论文标题
符号控制的信号时间逻辑的平稳鲁棒度量
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
论文作者
论文摘要
近年来，由于其表现力和与自然语言的亲密关系，越来越多地使用信号时间逻辑（STL）作为符号控制的形式规范语言。此外，可以使用STL的强大语义将STL规范编码为成本函数，从而将合成问题转换为优化问题。不幸的是，这些成本函数是非平滑和非凸的，使用混合组件编程的精确解决方案不能很好地扩展。最近的工作集中在使用鲁棒性平滑近似值上，这使得基于梯度的方法可以找到本地最大值，而以健全性和/或完整性为代价。我们提出了一种新颖的鲁棒性近似，该近似在任何地方都光滑，声音和渐近完成。我们的方法结合了现有近似值的好处，同时实现了保守性和完整性之间的明确权衡。
Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural language. Furthermore, STL specifications can be encoded as cost functions using STL's robust semantics, transforming the synthesis problem into an optimization problem. Unfortunately, these cost functions are non-smooth and non-convex, and exact solutions using mixed-integer programming do not scale well. Recent work has focused on using smooth approximations of robustness, which enable faster gradient-based methods to find local maxima, at the expense of soundness and/or completeness. We propose a novel robustness approximation that is smooth everywhere, sound, and asymptotically complete. Our approach combines the benefits of existing approximations, while enabling an explicit tradeoff between conservativeness and completeness.
