论文标题
信号时间逻辑规格的自动机指导的控制合成
Automaton-Guided Control Synthesis for Signal Temporal Logic Specifications
论文作者
论文摘要
本文提出了一个算法框架，用于控制符合信号时间逻辑（STL）规范的连续动力系统的合成。我们提出了一种新颖的算法，以从STL规范中获得时间分配的有限自动机，并引入一个多层框架，该框架利用该自动机在空间和时间上指导基于采样的搜索树。我们的方法能够为非线性动力学和多项式谓词函数合成控制器。我们证明了算法的正确性和概率完整性，并说明了我们在几个案例研究中框架的效率和功效。我们的结果表明，在最新状态下，速度的速度是一定的速度。
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL specification, and introduce a multi-layered framework that utilizes this automaton to guide a sampling-based search tree both spatially and temporally. Our approach is able to synthesize a controller for nonlinear dynamics and polynomial predicate functions. We prove the correctness and probabilistic completeness of our algorithm, and illustrate the efficiency and efficacy of our framework on several case studies. Our results show an order of magnitude speedup over the state of the art.
