论文标题
具有信号时间逻辑的运动计划的随机鲁棒性间隔
Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic
论文作者
论文摘要
在这项工作中，我们为信号时间逻辑（STL）规范提供了连续时间随机轨迹的新型鲁棒性度量。我们显示了该度量的健全性，并为有关部分轨迹的推理开发了监视器。使用此显示器，我们为在不确定性下的机器人引入了基于STL采样的运动计划算法。鉴于最小的鲁棒性要求，该算法发现令人满意的运动计划；或者，该算法还针对该度量进行了优化。我们证明了概率的完整性和渐近优化性，并证明了我们方法对几个案例研究的有效性。
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about partial trajectories. Using this monitor, we introduce an STL sampling-based motion planning algorithm for robots under uncertainty. Given a minimum robustness requirement, this algorithm finds satisfying motion plans; alternatively, the algorithm also optimizes for the measure. We prove probabilistic completeness and asymptotic optimality, and demonstrate the effectiveness of our approach on several case studies.
