ﻻ يوجد ملخص باللغة العربية
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.
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these signal tem
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to satisfy STL t
In this paper, we present a mechanism for building hybrid system observers to differentiate between specific positions of the hybrid system. The mechanism is designed through inferring metric temporal logic (MTL) formulae from simulated trajectories
We develop a probabilistic control algorithm, $texttt{GTLProCo}$, for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The resulting algorithm not only achieves decentralized control of the swarm
Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For stochastic systems