This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain unchanged during runtime. In this paper, we propose a novel, provably correct control scheme for linear systems with unbounded stochastic disturbances that dynamically evaluates the feasibility of runtime signal temporal logic specifications and automatically reschedules the control inputs. The method guarantees the probabilistic satisfaction of newly accepted runtime specifications without sacrificing the satisfaction of the previously accepted ones. The proposed control method is validated by a robotic motion planning case study. The idea of closed-loop control rescheduling with probabilistic risk guarantees provides a novel solution for runtime control synthesis of stochastic systems.

翻译：本文研究运行时动态分配的时序逻辑规范下随机系统的风险感知控制问题。传统风险感知控制通常假设所有规范在运行时预先定义且保持不变。本文提出一种新颖且可证明正确的线性系统控制方案，该系统存在无界随机扰动，能够动态评估运行时信号时序逻辑规范的可行性，并自动重新调度控制输入。该方法可保证新接受运行时规范的概率满足性，同时不牺牲先前已接受规范的满足性。通过机器人运动规划案例验证了所提控制方法的有效性。具有概率风险保障的闭环控制重调度思想，为随机系统的运行时控制综合提供了新型解决方案。