Reactive and Risk-Aware Control for Signal Temporal Logic

• 成果类型: Article
• 署名作者: Lindemann, Lars; Pappas, George J.; Dimarogonas, Dimos, V
• 署名单位: University of Pennsylvania; Royal Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3120681
• 发表日期: 2022
• 页码: 5262-5277
• 关键词: Reactive power; PLANNING; semantics; Automata; Transducers; control systems; Random variables; formal methods; reactive control; risk-aware control; signal temporal logic (STL); timed automata

摘要

The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We first propose reactive risk signal interval temporal logic (ReRiSITL) as an extension of signal temporal logic (STL) to formulate complex spatiotemporal specifications. Unlike STL, ReRiSITL allows to consider uncontrollable propositions that may model humans as well as random environmental events such as sensor failures. Additionally, ReRiSITL allows to incorporate risk measures, such as (but not limited to) the conditional value-at-risk, to measure the risk of violating certain spatial specifications. Second, we propose an algorithm to check if an ReRiSITL specification is satisfiable. For this purpose, we abstract the ReRiSITL specification into a timed signal transducer and devise a game-based approach. Third, we propose a reactive planning and control framework for dynamical control systems under ReRiSITL specifications.