11,566 research outputs found
Fixed-Time Convergent Control Barrier Functions for Coupled Multi-Agent Systems Under STL Tasks
This paper presents a control strategy based on a new notion of time-varying
fixed-time convergent control barrier functions (TFCBFs) for a class of coupled
multi-agent systems under signal temporal logic (STL) tasks. In this framework,
each agent is assigned a local STL task regradless of the tasks of other
agents. Each task may be dependent on the behavior of other agents which may
cause conflicts on the satisfaction of all tasks. Our approach finds a robust
solution to guarantee the fixed-time satisfaction of STL tasks in a least
violating way and independent of the agents' initial condition in the presence
of undesired violation effects of the neighbor agents. Particularly, the robust
performance of the task satisfactions can be adjusted in a user-specified way.Comment: Accepted in ECC 202
Communication-Constrained STL Task Decomposition through Convex Optimization
In this work, we propose a method to decompose signal temporal logic (STL)
tasks for multi-agent systems subject to constraints imposed by the
communication graph. Specifically, we propose to decompose tasks defined over
multiple agents which require multi-hop communication, by a set of sub-tasks
defined over the states of agents with 1-hop distance over the communication
graph. To this end, we parameterize the predicates of the tasks to be
decomposed as suitable hyper-rectangles. Then, we show that by solving a
constrained convex optimization, optimal parameters maximising the volume of
the predicate's super-level sets can be computed for the decomposed tasks. In
addition, we provide a formal definition of conflicting conjunctions of tasks
for the considered STL fragment and a formal procedure to exclude such
conjunctions from the solution set of possible decompositions. The proposed
approach is demonstrated through simulations.Comment: This paper is accepted at 2024 American Control Conference (ACC
Multi-Agent Robust Control Synthesis from Global Temporal Logic Tasks
This paper focuses on the heterogeneous multi-agent control problem under
global temporal logic tasks. We define a specification language, called
extended capacity temporal logic (ECaTL), to describe the required global
tasks, including the number of times that a local or coupled signal temporal
logic (STL) task needs to be satisfied and the synchronous requirements on task
satisfaction. The robustness measure for ECaTL is formally designed. In
particular, the robustness for synchronous tasks is evaluated from both the
temporal and spatial perspectives. Mixed-integer linear constraints are
designed to encode ECaTL specifications, and a two-step optimization framework
is further proposed to realize task-satisfied motion planning with high spatial
robustness and synchronicity. Simulations are conducted to demonstrate the
expressivity of ECaTL and the efficiency of the proposed control synthesis
approach.Comment: 7 pages, 3 figure
Formal Synthesis of Controllers for Safety-Critical Autonomous Systems: Developments and Challenges
In recent years, formal methods have been extensively used in the design of
autonomous systems. By employing mathematically rigorous techniques, formal
methods can provide fully automated reasoning processes with provable safety
guarantees for complex dynamic systems with intricate interactions between
continuous dynamics and discrete logics. This paper provides a comprehensive
review of formal controller synthesis techniques for safety-critical autonomous
systems. Specifically, we categorize the formal control synthesis problem based
on diverse system models, encompassing deterministic, non-deterministic, and
stochastic, and various formal safety-critical specifications involving logic,
real-time, and real-valued domains. The review covers fundamental formal
control synthesis techniques, including abstraction-based approaches and
abstraction-free methods. We explore the integration of data-driven synthesis
approaches in formal control synthesis. Furthermore, we review formal
techniques tailored for multi-agent systems (MAS), with a specific focus on
various approaches to address the scalability challenges in large-scale
systems. Finally, we discuss some recent trends and highlight research
challenges in this area
Signal Temporal Logic Control Synthesis among Uncontrollable Dynamic Agents with Conformal Prediction
The control of dynamical systems under temporal logic specifications among
uncontrollable dynamic agents is challenging due to the agents' a-priori
unknown behavior. Existing works have considered the problem where either all
agents are controllable, the agent models are deterministic and known, or no
safety guarantees are provided. We propose a predictive control synthesis
framework that guarantees, with high probability, the satisfaction of signal
temporal logic (STL) tasks that are defined over the system and uncontrollable
stochastic agents. We use trajectory predictors and conformal prediction to
construct probabilistic prediction regions for each uncontrollable agent that
are valid over multiple future time steps. Specifically, we reduce conservatism
and increase data efficiency compared to existing works by constructing a
normalized prediction region over all agents and time steps. We then formulate
a worst-case mixed integer program (MIP) that accounts for all agent
realizations within the prediction region to obtain control inputs that
provably guarantee task satisfaction with high probability. To efficiently
solve this MIP, we propose an equivalent MIP program based on KKT conditions of
the original one. We illustrate our control synthesis framework on two case
studies
Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet
In this paper, we consider the problem of learning a neural network
controller for a system required to satisfy a Signal Temporal Logic (STL)
specification. We exploit STL quantitative semantics to define a notion of
robust satisfaction. Guaranteeing the correctness of a neural network
controller, i.e., ensuring the satisfaction of the specification by the
controlled system, is a difficult problem that received a lot of attention
recently. We provide a general procedure to construct a set of trainable High
Order Control Barrier Functions (HOCBFs) enforcing the satisfaction of formulas
in a fragment of STL. We use the BarrierNet, implemented by a differentiable
Quadratic Program (dQP) with HOCBF constraints, as the last layer of the neural
network controller, to guarantee the satisfaction of the STL formulas. We train
the HOCBFs together with other neural network parameters to further improve the
robustness of the controller. Simulation results demonstrate that our approach
ensures satisfaction and outperforms existing algorithms.Comment: Submitted to CDC 202
Resilience for satisfaction of temporal logic specifications by dynamical systems
The increased adoption and deployment of cyber-physical systems in critical infrastructure in recent years have led to challenging questions about safety and reliability. These systems usually operate in uncertain environments and are required to satisfy a broad spectrum of specifications. Thus, automated tools are necessary to alleviate the need for manual design and proof of their correct behaviors. This thesis studies mathematical and computational frameworks to design correct and optimal control strategies for discrete-time and continuous-time systems with temporal and spatial specifications. Signal Temporal Logic (STL) is employed as a rich and expressive language to impose temporal constraints and deadlines on system performance.
The first part of the thesis introduces a novel quantitative semantics for STL that improves the evaluation of temporal logic specifications. Furthermore, an extension of STL, called Weighted Signal Temporal Logic (wSTL), is defined in order to formalize satisfaction priorities of multiple specifications and time preferences in a high-level specification. Learning-based frameworks are proposed to infer quantitative semantics, and satisfaction priorities and preferences from data.
The second part develops optimization frameworks to determine control strategies enforcing the satisfaction of wSTL specifications by different classes of systems. Mixed-integer programming and gradient-based optimization techniques are studied to solve the control synthesis problem. Further evaluation and optimization algorithms are presented based on Control Barrier Functions to guarantee continuous-time satisfaction of safety-critical specifications in a system.
The third part of this thesis focuses on utilizing STL to express spatio-temporal specifications that are widely used in networks of locally interacting dynamical systems. Machine learning techniques are used to derive spatio-temporal quantitative semantics, which is employed in automated frameworks for evaluation and synthesis of complex spatial and temporal properties. Case studies illustrating the synthesis of spatio-temporal patterns in biological cell networks are presented
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