140,501 research outputs found
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 Control Strategies for Positive Monotone Systems
We design controllers from formal specifications for positive discrete-time
monotone systems that are subject to bounded disturbances. Such systems are
widely used to model the dynamics of transportation and biological networks.
The specifications are described using signal temporal logic (STL), which can
express a broad range of temporal properties. We formulate the problem as a
mixed-integer linear program (MILP) and show that under the assumptions made in
this paper, which are not restrictive for traffic applications, the existence
of open-loop control policies is sufficient and almost necessary to ensure the
satisfaction of STL formulas. We establish a relation between satisfaction of
STL formulas in infinite time and set-invariance theories and provide an
efficient method to compute robust control invariant sets in high dimensions.
We also develop a robust model predictive framework to plan controls optimally
while ensuring the satisfaction of the specification. Illustrative examples and
a traffic management case study are included.Comment: To appear in IEEE Transactions on Automatic Control (TAC) (2018), 16
pages, double colum
Flow Logic
Flow networks have attracted a lot of research in computer science. Indeed,
many questions in numerous application areas can be reduced to questions about
flow networks. Many of these applications would benefit from a framework in
which one can formally reason about properties of flow networks that go beyond
their maximal flow. We introduce Flow Logics: modal logics that treat flow
functions as explicit first-order objects and enable the specification of rich
properties of flow networks. The syntax of our logic BFL* (Branching Flow
Logic) is similar to the syntax of the temporal logic CTL*, except that atomic
assertions may be flow propositions, like or , for
, which refer to the value of the flow in a vertex, and
that first-order quantification can be applied both to paths and to flow
functions. We present an exhaustive study of the theoretical and practical
aspects of BFL*, as well as extensions and fragments of it. Our extensions
include flow quantifications that range over non-integral flow functions or
over maximal flow functions, path quantification that ranges over paths along
which non-zero flow travels, past operators, and first-order quantification of
flow values. We focus on the model-checking problem and show that it is
PSPACE-complete, as it is for CTL*. Handling of flow quantifiers, however,
increases the complexity in terms of the network to , even
for the LFL and BFL fragments, which are the flow-counterparts of LTL and CTL.
We are still able to point to a useful fragment of BFL* for which the
model-checking problem can be solved in polynomial time. Finally, we introduce
and study the query-checking problem for BFL*, where under-specified BFL*
formulas are used for network exploration
A provably correct MPC approach to safety control of urban traffic networks
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to guarantee desirable behaviors over long periods of time. In this paper we design an MPC strategy that is guaranteed to keep the evolution of a network in a desirable yet arbitrary -safe- set, while optimizing a finite horizon cost function. Our approach relies on finding a robust controlled invariant set inside the safe set that provides an appropriate terminal constraint for the MPC optimization problem. An illustrative example is included.This work was partially supported by the NSF under grants CPS-1446151 and CMMI-1400167. (CPS-1446151 - NSF; CMMI-1400167 - NSF
Model Predictive Control for Signal Temporal Logic Specification
We present a mathematical programming-based method for model predictive
control of cyber-physical systems subject to signal temporal logic (STL)
specifications. We describe the use of STL to specify a wide range of
properties of these systems, including safety, response and bounded liveness.
For synthesis, we encode STL specifications as mixed integer-linear constraints
on the system variables in the optimization problem at each step of a receding
horizon control framework. We prove correctness of our algorithms, and present
experimental results for controller synthesis for building energy and climate
control
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Challenges to the Integration of Renewable Resources at High System Penetration
Successfully integrating renewable resources into the electric grid at penetration levels to meet a 33 percent Renewables Portfolio Standard for California presents diverse technical and organizational challenges. This report characterizes these challenges by coordinating problems in time and space, balancing electric power on a range of scales from microseconds to decades and from individual homes to hundreds of miles. Crucial research needs were identified related to grid operation, standards and procedures, system design and analysis, and incentives, and public engagement in each scale of analysis. Performing this coordination on more refined scales of time and space independent of any particular technology, is defined as a “smart grid.” “Smart” coordination of the grid should mitigate technical difficulties associated with intermittent and distributed generation, support grid stability and reliability, and maximize benefits to California ratepayers by using the most economic technologies, design and operating approaches
Situation awareness and ability in coalitions
This paper proposes a discussion on the formal links between the Situation Calculus and the semantics of interpreted systems as far as they relate to Higher-Level Information Fusion tasks. Among these tasks Situation Analysis require to be able to reason about the decision processes of coalitions. Indeed in higher levels of information fusion, one not only need to know that a certain proposition is true (or that it has a certain numerical measure attached), but rather needs to model the circumstances under which this validity holds as well as agents' properties and constraints. In a previous paper the authors have proposed to use the Interpreted System semantics as a potential candidate for the unification of all levels of information fusion. In the present work we show how the proposed framework allow to bind reasoning about courses of action and Situation Awareness. We propose in this paper a (1) model of coalition, (2) a model of ability in the situation calculus language and (3) a model of situation awareness in the interpreted systems semantics. Combining the advantages of both Situation Calculus and the Interpreted Systems semantics, we show how the Situation Calculus can be framed into the Interpreted Systems semantics. We illustrate on the example of RAP compilation in a coalition context, how ability and situation awareness interact and what benefit is gained. Finally, we conclude this study with a discussion on possible future works
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