Talks and Poster Presentations (with Proceedings-Entry):
I. Haghighi, N. Mehdipour, E. Bartocci, C. Belta:
"Control from Signal Temporal Logic Specifications with Smooth Cumulative Quantitative Semantics";
Talk: 2019 IEEE Conference on Decision and Control (CDC),
- 2019-12-13; in: "Proc. of CDC 2019: the 2019 IEEE Conference on Decision and Control",
We present a framework to synthesize control
policies for nonlinear dynamical systems from complex temporal
constraints specified in a rich temporal logic called
Signal Temporal Logic (STL). We propose a novel smooth
STL quantitative semantics called cumulative robustness, and
efficiently compute control policies through a series of smooth
optimization problems that are solved using gradient ascent
algorithms. Furthermore, we demonstrate how these techniques
can be incorporated in a model predictive control framework.
The advantages of combining the cumulative robustness
function with smooth optimization methods as well as model
predictive control are illustrated in case studies.
Electronic version of the publication:
Created from the Publication Database of the Vienna University of Technology.