724 research outputs found
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
Slow-roll inflation in gravity with a 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
gravity, where is the Ricci scalar and is the trace of the
inflaton energy-momentum tensor. On top of the minimally coupled that has
been widely investigated in the literature, we further include a 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
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
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