论文标题
弹性控制合成的信号时间逻辑规格的时间放松
Temporal Relaxation of Signal Temporal Logic Specifications for Resilient Control Synthesis
论文作者
论文摘要
我们引入了一个可以量化信号时间逻辑（STL）规格的时间松弛的度量，并促进面对不可限性的弹性控制合成。所提出的度量标准量化了子任务之间放松的累积概念，并将其最小化可将原始STL规范中的结构变化量化，i）修改时间间隔，ii）如果需要，请完全删除子任务。为此，我们制定了一个最佳控制问题，该问题通过在实现所需谓词的同时最小化违反时间要求来提取状态和输入序列。我们以计算高效的混合构成程序的形式编码此问题。我们对新指标的属性显示了一些理论结果。最后，我们提出了一个机器人的案例研究，该机器人面对不可行的情况，违反了所需任务的时间限制。
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of relaxation among the subtasks, and minimizing it yields to structural changes in the original STL specification by i) modifying time-intervals, ii) removing subtasks entirely if needed. To this end, we formulate an optimal control problem that extracts state and input sequences by minimally violating the temporal requirements while achieving the desired predicates. We encode this problem in the form of a computationally efficient mixed-integer program. We show some theoretical results on the properties of the new metric. Finally, we present a case study of a robot that minimally violates the time constraints of desired tasks in the face of an infeasibility.
