Resilient satisfaction of persistent and safety specifications by autonomous systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Persistent and safety specifications appear in numerous applications including, but not limited to, search and rescue, aerial monitoring, pick-up and delivery. Such specifications may require visiting a region periodically, bounding a state in a desired interval, or keeping a distance with obstacles. One compact and rigorous way of defining these specifications is via Signal Temporal Logic (STL), which is a rich specification language for time-constrained behaviors. STL is endowed with a metric called robustness degree, which quantifies how well a trajectory satisfies a given STL formula. This metric enables the use of optimization methods to synthesize controllers for robust satisfaction of STL formulae. In this paper, we show that maximizing the robustness degree generally does not provide resilience, i.e., it does not facilitate recovery after a specification is violated. We propose a novel formulation for the synthesis of resilient controllers. Specifically, given an STL formula, we define a shifting STL formula, whose structure is the same as the original STL formula but its time windows capture the remaining mission horizon. We find the optimal control that maximizes the robustness degree with respect to the shifting STL formula. In some cases, the resulting control not only is a maximizer of the robustness degree with respect to the original formula but also provides resilience to the system. We illustrate the proposed method with a simulation case study.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2021 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages1-11
Number of pages11
ISBN (Print)9781624106095
DOIs
StatePublished - 2021
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 - Virtual, Online
Duration: Jan 11 2021Jan 15 2021

Publication series

NameAIAA Scitech 2021 Forum

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
CityVirtual, Online
Period1/11/211/15/21

Bibliographical note

Publisher Copyright:
© 2021, American Institute of Aeronautics and Astronautics Inc, AIAA. All Rights Reserved.

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