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：本文关注随机系统在运行过程中动态分配时态逻辑规范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预定义且在运行过程中保持不变。本文针对具有加性无界随机扰动的线性系统，提出了一种新颖且具有可证明正确性的模型预测控制方案，该方案能动态评估运行时信号时态逻辑规范的可行性，并据此自动重新调度控制输入。该控制方法可保证新接受规范的满足概率，同时不影响先前已接受规范的满足。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。