Conference Proceedings

From Uncertainty Data to Robust Policies for Temporal Logic Planning

Pier Giuseppe Sessa, Damian Frick, Tony A Wood, Maryam Kamgarpour

HSCC 2018: PROCEEDINGS OF THE 21ST INTERNATIONAL CONFERENCE ON HYBRID SYSTEMS: COMPUTATION AND CONTROL (PART OF CPS WEEK) | ASSOC COMPUTING MACHINERY | Published : 2018

Abstract

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 sp..

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