Reactive and Risk-Aware Control for Signal Temporal Logic

Lindemann, L.Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, United States of America, (författare)

QC 20220525
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.

TEKNIK OCH TEKNOLOGIER Maskinteknik Strömningsmekanik och akustik hsv//swe
ENGINEERING AND TECHNOLOGY Mechanical Engineering Fluid Mechanics and Acoustics hsv//eng
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

Pappas, G. J.Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, United States of America, (författare)
Dimarogonas, Dimos V.KTH,Reglerteknik(Swepub:kth)u1zrhfkn (författare)
Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, United States of America,Reglerteknik (creator_code:org_t)

Ingår i:IEEE Transactions on Automatic Control: Institute of Electrical and Electronics Engineers (IEEE)0018-92861558-2523

Av författaren/redakt...: Lindemann, L.; Pappas, G. J.; Dimarogonas, Dim ...

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