Robot Navigation Under MITL Constraints Using Time-Dependent Vector Field Based Control

Mavridis, Christos N.; Vrohidis, Constantinos; Baras, John S.; Kyriakopoulos, Kostas J.

doi:10.1109/cdc40024.2019.9028890

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…A timed automata-based planning framework has been presented in our previous work [17] where we decompose the STL specification into STL subspecifications. Feedback control laws that implement such STL subspecifications, which are timed transitions, have appeared in [4,[18][19][20][21][22][23][24].…”

Section: Related Workmentioning

confidence: 99%

“…The third contribution is a planning and control framework for dynamical control systems under ReRiSITL specifications. The main elements here are a well defined timed abstraction of the control system that relies on existing feedback control laws as presented in [18][19][20][21][22][23][24]. We then propose to use a combination of a game-based approach, graph search techniques, and replanning.…”

Section: Contributionsmentioning

confidence: 99%

“…For robotic specific problem setups, funnel control laws to solve (8) or (9) have also appeared in [18], while optimization-based methods are presented in [19]. Another approach, relying on time-varying vector fields, has appeared in [24]. We are, purposefully and with respect to page limitations, not presenting a specific type of feedback control law here and emphasize that our proposed reactive planning method is agnostic to feedback control laws that can achieve the STL specification as in (8) or (9).…”

Section: Feedback Control Under Stl Specificationsmentioning

confidence: 99%

See 2 more Smart Citations

Reactive and Risk-Aware Control for Signal Temporal Logic

Lindemann¹,

Pappas²,

Dimarogonas³

2021

Preprint

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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.

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