In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the expressiveness of Signal Temporal Logic (STL) by introducing predicates that can define rich properties related to the integral and derivative of a signal. For control synthesis, the new predicates are encoded into mixed-integer linear inequalities and are used in the formulation of a mixed-integer linear program to find a trajectory that satisfies an STL specification. We discuss the benefits of using the new predicates and illustrate them in a case study showing the influence of the new predicates on the trajectories of an autonomous robot.
|Original language||English (US)|
|Title of host publication||2021 American Control Conference, ACC 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - May 25 2021|
|Event||2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States|
Duration: May 25 2021 → May 28 2021
|Name||Proceedings of the American Control Conference|
|Conference||2021 American Control Conference, ACC 2021|
|City||Virtual, New Orleans|
|Period||5/25/21 → 5/28/21|
Bibliographical notePublisher Copyright:
© 2021 American Automatic Control Council.