4,143 research outputs found
Robust Motion Planning employing Signal Temporal Logic
Motion planning classically concerns the problem of accomplishing a goal
configuration while avoiding obstacles. However, the need for more
sophisticated motion planning methodologies, taking temporal aspects into
account, has emerged. To address this issue, temporal logics have recently been
used to formulate such advanced specifications. This paper will consider Signal
Temporal Logic in combination with Model Predictive Control. A robustness
metric, called Discrete Average Space Robustness, is introduced and used to
maximize the satisfaction of specifications which results in a natural
robustness against noise. The comprised optimization problem is convex and
formulated as a Linear Program.Comment: 6 page
Contracts and Behavioral Patterns for SoS: The EU IP DANSE approach
This paper presents some of the results of the first year of DANSE, one of
the first EU IP projects dedicated to SoS. Concretely, we offer a tool chain
that allows to specify SoS and SoS requirements at high level, and analyse them
using powerful toolsets coming from the formal verification area. At the high
level, we use UPDM, the system model provided by the british army as well as a
new type of contract based on behavioral patterns. At low level, we rely on a
powerful simulation toolset combined with recent advances from the area of
statistical model checking. The approach has been applied to a case study
developed at EADS Innovation Works.Comment: In Proceedings AiSoS 2013, arXiv:1311.319
Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation
We present a new temporal logic called Distribution Temporal Logic (DTL)
defined over predicates of belief states and hidden states of partially
observable systems. DTL can express properties involving uncertainty and
likelihood that cannot be described by existing logics. A co-safe formulation
of DTL is defined and algorithmic procedures are given for monitoring
executions of a partially observable Markov decision process with respect to
such formulae. A simulation case study of a rescue robotics application
outlines our approach.Comment: More expanded version of "Distribution Temporal Logic: Combining
Correctness with Quality of Estimation" to appear in IEEE CDC 201
Technical report: Distribution Temporal Logic: combining correctness with quality of estimation
We present a new temporal logic called Distribution Temporal Logic (DTL) defined over predicates of belief states and hidden states of partially observable systems. DTL can express properties involving uncertainty and likelihood that cannot be described by existing logics. A co-safe formulation of DTL is defined and algorithmic procedures are given for monitoring executions of a partially observable Markov decision process with respect to such formulae. A simulation case study of a rescue robotics application outlines our approach
Temporal Precedence Checking for Switched Models and its Application to a Parallel Landing Protocol
This paper presents an algorithm for checking temporal precedence properties of nonlinear switched systems. This class of properties subsume bounded safety and capture requirements about visiting a sequence of predicates within given time intervals. The algorithm handles nonlinear predicates that arise from dynamics-based predictions used in alerting protocols for state-of-the-art transportation systems. It is sound and complete for nonlinear switch systems that robustly satisfy the given property. The algorithm is implemented in the Compare Execute Check Engine (C2E2) using validated simulations. As a case study, a simplified model of an alerting system for closely spaced parallel runways is considered. The proposed approach is applied to this model to check safety properties of the alerting logic for different operating conditions such as initial velocities, bank angles, aircraft longitudinal separation, and runway separation
On Expressing and Monitoring Oscillatory Dynamics
To express temporal properties of dense-time real-valued signals, the Signal
Temporal Logic (STL) has been defined by Maler et al. The work presented a
monitoring algorithm deciding the satisfiability of STL formulae on finite
discrete samples of continuous signals. The logic has been used to express and
analyse biological systems, but it is not expressive enough to sufficiently
distinguish oscillatory properties important in biology. In this paper we
define the extended logic STL* in which STL is augmented with a signal-value
freezing operator allowing us to express (and distinguish) detailed properties
of biological oscillations. The logic is supported by a monitoring algorithm
prototyped in Matlab. The monitoring procedure of STL* is evaluated on a
biologically-relevant case study.Comment: In Proceedings HSB 2012, arXiv:1208.315
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