Reactive and Risk-Aware Control for Signal Temporal Logic

• 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.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik -- Strömningsmekanik och akustik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering -- Fluid Mechanics and Acoustics (hsv//eng)

Keyword

Automata

Control systems

Formal Methods

Planning

Random variables

Reactive Control

Reactive power

Riskaware Control

Semantics

Signal Temporal Logic

Timed Automata

Transducers

Automata theory

Computer circuits

Model checking

Risk assessment

Value engineering

Automaton

Interval temporal logic

Planning and control

Risk aware

Risk signals

Temporal logic specifications

Temporal logic

Publication and Content Type

ref (subject category)

art (subject category)