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Register a new userEnhancing Data-Driven Reachability Analysis using Temporal Logic Side Information
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Added by
Amr Alanwar
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a robot can be prohibitively conservative due to the inherent noise in the robots historical measurement data. In the same scenarios, we often have side information about the robots expected motion (e.g., limits on how much a robot can move in a one-time step) that could be useful for further specifying the reachability analysis. In this work, we show that if we can model this side information using a signal temporal logic (STL) fragment, we can constrain the data-driven reachability analysis and safely limit the conservatism of the computed reachable sets. Moreover, we provide formal guarantees that, even after incorporating side information, the computed reachable sets still properly over-approximate the robots future states. Lastly, we empirically validate the practicality of the over-approximation by computing constrained, data-driven reachable sets for the Small-Vehicles-for-Autonomy (SVEA) hardware platform in two driving scenarios.
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