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 model predictive control scheme for linear systems with additive unbounded stochastic disturbances that dynamically evaluates the feasibility of runtime signal temporal logic specifications and automatically reschedules the control inputs accordingly. The control method guarantees the probabilistic satisfaction of newly accepted specifications without sacrificing the satisfaction of the previously accepted ones. The proposed control method is validated by a robotic motion planning case study.

翻译：本文研究了运行时动态分配的具有时序逻辑规范的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均为预定义且在运行时保持不变。本文针对带有无界加性随机扰动的线性系统，提出了一种新颖且可证明正确的模型预测控制方案，该方案能够动态评估运行时信号时序逻辑规范的可行性，并据此自动重新调度控制输入。该控制方法可在不牺牲先前接受规范满足性的前提下，保证新接受规范的概率满足性。通过机器人运动规划案例研究验证了所提控制方法的有效性。