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conference paper

From Uncertainty Data to Robust Policies for Temporal Logic Planning

Sessa, Pier Giuseppe
•
Frick, Damian
•
Wood, Tony A.
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April 11, 2018
Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)
HSCC '18: 21st International Conference on Hybrid Systems: Computation and Control

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving.

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Type
conference paper
DOI
10.1145/3178126.3178136
Author(s)
Sessa, Pier Giuseppe
Frick, Damian
Wood, Tony A.
Kamgarpour, Maryam  
Date Issued

2018-04-11

Publisher

ACM

Publisher place

Porto Portugal

Published in
Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)
ISBN of the book

978-1-4503-5642-8

Start page

157

End page

166

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
SYCAMORE  
Event nameEvent placeEvent date
HSCC '18: 21st International Conference on Hybrid Systems: Computation and Control

Porto Portugal

2018-04-11

Available on Infoscience
December 1, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/183341
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