论文标题
在信号时间逻辑规格下的车辆任务计划的控制屏障功能合同
Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications
论文作者
论文摘要
我们提出了一种基于假定保证合同的组成控制合成方法，并应用于纠正车辆任务计划的校正设计。在我们的方法中，以信号时间逻辑（STL）片段表示的任务级规范分解为在非重叠时间间隔上定义的谓词。然后将STL谓词映射到与连续不同时变屏障功能相关的合同的聚合。屏障功能用于限制下层控制合成问题，该问题通过二次编程解决。我们的方法可以避免基于不足的任务驱动控制的先前方法的保守性。我们说明了其在安全限制下的车辆任务计划所激发的案例研究中的有效性，以及在车辆到车辆和车辆到基础结构通信下对交通法规施加的限制。
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of signal temporal logic (STL) is decomposed into predicates defined on non-overlapping time intervals. The STL predicates are then mapped to an aggregation of contracts associated with continuously differentiable time-varying control barrier functions. The barrier functions are used to constrain the lower-level control synthesis problem, which is solved via quadratic programming. Our approach can avoid the conservatism of previous methods for task-driven control based on under-approximations. We illustrate its effectiveness on a case study motivated by vehicular mission planning under safety constraints as well as constraints imposed by traffic regulations under vehicle-to-vehicle and vehicle-to-infrastructure communication.
