Efficient STL Control Synthesis under Asynchronous Temporal Robustness Constraints

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the robustness of a system trajectory against individual time shifts in its sub-trajectories. In a multi-robot system, this may correspond to individual robots being delayed or early. Control synthesis under ATR constraints is challenging and has not yet been addressed. In this paper, we propose an efficient control synthesis method under ATR constraints which are defined with respect to simple safety or complex signal temporal logic specifications. Given an ATR bound, we compute a sequence of control inputs so that the specification is satisfied by the system as long as each sub-trajectory is shifted not more than the ATR bound. We avoid combinatorially exploring all shifted sub-trajectories by first identifying redundancy between them. We capture this insight by the notion of instant-shift pair sets, and then propose an optimization program that enforces the specification only over the instant-shift pair sets. We show soundness and completeness of our method and analyze its computational complexity. Finally, we present various illustrative case studies.Comment: This paper was accepted to CDC202

Construction of evaluation index system of ecological civilized city

Ecological civilization city evaluation is the driving force and main means to promote the construction of urban ecological civilization. The establishment of evaluation index system is the key to the scientific and accuracy of ecological civilization city evaluation. The element structure method is adopted to build the evaluation index model according to the functions of urban government in economy, culture, society and environment. Build an evaluation index system for urban ecological economy, ecological culture, ecological society and ecological environment

Slow-roll inflation in f(R,T)f(R,T) gravity with a RTRT mixing term

We consider slow-roll inflationary models in a class of modified theories of gravity which contains non-minimal curvature-inflaton couplings, i.e., the $f(R,T)$ gravity, where $R$ is the Ricci scalar and $T$ is the trace of the inflaton energy-momentum tensor. On top of the minimally coupled $T$ that has been widely investigated in the literature, we further include a $RT$ mixing term in the theory. This mixing term introduces non-minimal derivative couplings and plays an important role in inflationary dynamics. Taking chaotic and natural inflation as examples, we find that the predictions for spectral tilt and the tensor-to-scalar ratio are sensitive to the existence of the $RT$ mixing term. In particular, by turning on this mixing term, it is possible to bring chaotic and natural inflation into better agreement with observational data.Comment: 16 pages, 4 figure