Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control最新文献_第2页

Successive Convexification for Optimal Control with Signal Temporal Logic Specifications 具有信号时序逻辑规范的最优控制的逐次凸化

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519518

Y. Mao, Behçet Açikmese, P. Garoche, Alexandre Chapoutot

{"title":"Successive Convexification for Optimal Control with Signal Temporal Logic Specifications","authors":"Y. Mao, Behçet Açikmese, P. Garoche, Alexandre Chapoutot","doi":"10.1145/3501710.3519518","DOIUrl":"https://doi.org/10.1145/3501710.3519518","url":null,"abstract":"As the scope and complexity of modern cyber-physical systems increase, newer and more challenging mission requirements will be imposed on the optimal control of the underlying unmanned systems. This paper proposes a solution to handle complex temporal requirements formalized in Signal Temporal Logic (STL) specifications within the Successive Convexification (SCvx) algorithmic framework. This SCvx-STL solution method consists of four steps: 1) Express the STL specifications using their robust semantics as state constraints. 2) Introduce new auxiliary state variables to transform these state constraints as system dynamics, by exploiting the recursively defined structure of robust STL semantics. 3) Smooth the resulting system dynamics with polynomial smooth min- and max- functions. 4) Convexify and solve the resulting optimal control problem with the SCvx algorithm, which enjoys guaranteed convergence and polynomial time subproblem solving capability. Our approach retains the expressiveness of encoding mission requirements with STL semantics, while avoiding the usage of combinatorial optimization techniques such as Mixed-integer programming. Numerical results are shown to demonstrate its effectiveness.","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126215293","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Poster Abstract: Decoding Output Sequences for Discrete-Time Linear Hybrid Systems. 摘要:离散时间线性混合系统的解码输出序列。

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3524736

M. Narasimhamurthy, S. Sankaranarayanan

{"title":"Poster Abstract: Decoding Output Sequences for Discrete-Time Linear Hybrid Systems.","authors":"M. Narasimhamurthy, S. Sankaranarayanan","doi":"10.1145/3501710.3524736","DOIUrl":"https://doi.org/10.1145/3501710.3524736","url":null,"abstract":"This paper studies the decoding problem of discrete-time stochastic hybrid systems with linear dynamics at each mode. The problem of reconstructing the sequence of continuous states, modes, and transitions of a hybrid system given only a sequence of possibly noisy outputs is referred to as the decoding problem 1. The decoding problem is NP-complete [4] and can be reduced to solving a mixed integer linear program (MILP). In this paper, we propose a solution that solves a relaxation of the decoding problem. The approach iterates over two steps - (a) fixing the sequence of modes and transitions for the given output sequence; and (b) estimating the continuous states. To make the first part tractable, we identify a finite subset of mode/transition sequences that “covers” the set of all such possible sequences and then iterate over this subset instead. The cover is generated using randomized algorithms and justified using well-known probabilistic arguments with high confidence. We demonstrate the proposed approach on a set of seven benchmarks. We observe that a relatively tiny subset of all possible mode/transition sequences suffices as a cover and the proposed approach solves the resulting state estimation problem rapidly by utilizing a tree data structure.","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121512482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Poster Abstract: Controller Synthesis for Nonlinear Stochastic Games via Approximate Probabilistic Relations 摘要:基于近似概率关系的非线性随机对策控制器综合

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3524732

Bingzhuo Zhong, Abolfazl Lavaei, Majid Zamani, M. Caccamo

{"title":"Poster Abstract: Controller Synthesis for Nonlinear Stochastic Games via Approximate Probabilistic Relations","authors":"Bingzhuo Zhong, Abolfazl Lavaei, Majid Zamani, M. Caccamo","doi":"10.1145/3501710.3524732","DOIUrl":"https://doi.org/10.1145/3501710.3524732","url":null,"abstract":"Motivations. In the past two decades, synthesizing correct-by-construction controllers for continuous-space stochastic systems has received significant attentions in real-life safety-critical ap-plications, such as self-driving cars, power grids, etc. However, formal controller synthesis for complex stochastic systems with continuous state and input sets is very challenging since there is no closed-form solutions of these controllers in general. To cope with this difficulty, a promising approach is to approximate the original continuous-space systems by simpler ones with finite-state sets ( a.k.a., finite abstractions). A critical step during this approximation phase is to provide formal guarantees when refining the controller synthesized over (simpler) finite models back to original complex systems. Related Works and Contributions . An abstraction-based ap- proach for synthesizing controllers over stochastic systems with continuous state and input sets was initially proposed in [2]. Later on, this approach was improved and extended in terms of scalability,","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134409398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Using Intersection of Unions to Minimize Multi-directional Linearization Error in Reachability Analysis 利用联合交最小化可达性分析中的多向线性化误差

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519524

A. Adimoolam, I. Saha

{"title":"Using Intersection of Unions to Minimize Multi-directional Linearization Error in Reachability Analysis","authors":"A. Adimoolam, I. Saha","doi":"10.1145/3501710.3519524","DOIUrl":"https://doi.org/10.1145/3501710.3519524","url":null,"abstract":"In piecewise linearization based reachable set computation, different linear approximations are computed around smaller pieces of the reachable set to reduce the linearization error in reachability analysis. However, this approach suffers from curse of dimensionality because the number of pieces required to restrict the linearization error below a threshold can blow up intractably for high-dimensional systems. Alternatively, we can fix the maximum number of divisions of the reachable set and optimize the division vector to minimize the linearization error. But the functions projecting the linearization error along different directions can be different, which have different optimal solutions for the division vector. Still, we may need to minimize the linearization error along multiple directions to achieve good accuracy along any one direction because the differential equations can be coupled. Therefore, we develop a new method of piecewise linearization based reachable set computation that incorporates different optimized divisions of reachable set for different projections of linearization error to improve accuracy. To do so, we use intersection of unions of sets (IoU) to approximate reachable sets such that different unions in the intersection are obtained from optimized division along different directions and forward propagation. We develop an algorithm to propagate the reachable set of the IoU in a coupled way, such that each intersecting union complements the approximation accuracy of other unions. We validate the advantage of using multiple optimal divisions instead of one optimized division. For this, we compare the performance on high dimensional examples, of the proposed algorithm with a variant of the algorithm which uses only one division vector at each time step. We also draw comparison with state-of-the-art methods and demonstrate that the accuracy of our algorithm is at par or better for the benchmarks.","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132331823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Multiresolution Analysis of Temporal Logic 时间逻辑的多分辨率分析

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519531

Houssam Abbas, Richard Pelphrey

{"title":"A Multiresolution Analysis of Temporal Logic","authors":"Houssam Abbas, Richard Pelphrey","doi":"10.1145/3501710.3519531","DOIUrl":"https://doi.org/10.1145/3501710.3519531","url":null,"abstract":"Is it possible to determine whether a signal violates a formula in Signal Temporal Logic (STL), if the monitor only has access to a low-resolution version of the signal? We answer this question affirmatively by demonstrating that temporal logic has a multiresolution structure, which parallels the multiresolution structure of signals. A formula in discrete-time Signal Temporal Logic (STL) is equivalently defined via the set of signals that satisfy it, known as its language. If a wavelet decomposition x = y + d is performed on each signal x in the language, we end up with two signal sets Y and D, where Y contains the low-resolution approximation signals y, and D contains the detail signals d needed to reconstruct the x’s. This paper provides a complete computational characterization of both Y and D using a novel constraint set encoding of STL, s.t. x satisfies a formula if and only if its decomposition signals satisfy their respective encoding constraints. Then a conservative logical approximation of Y is also provided: namely, we show that Y is over approximated by the language of a formula − 1. By iterating the decomposition, we obtain a sequence of lower-resolution formulas − 1, − 2, − 3,... which thus constitute a multiresolution analysis of. This work lays the foundation for multiresolution monitoring in distributed systems. One potential application of these results is a multiresolution monitor that can detect specification violation early by simply observing a low-resolution version of the signal to be monitored. 1","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128843009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

BOCoSy: Small but Powerful Symbolic Output-Feedback Control BOCoSy:小而强大的符号输出反馈控制

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519535

B. Finkbeiner, Kaushik Mallik, Noemi E. Passing, Malte Schledjewski, Anne-Kathrin Schmuck

引用次数: 2

Poster Abstract: Data-Driven Estimation of Collision Risks for Autonomous Vehicles with Formal Guarantees* 摘要:具有正式担保的自动驾驶汽车碰撞风险的数据驱动估计*

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3524735

Abolfazl Lavaei, L. D. Lillo, Margherita Atzei, A. Censi, E. Frazzoli

{"title":"Poster Abstract: Data-Driven Estimation of Collision Risks for Autonomous Vehicles with Formal Guarantees*","authors":"Abolfazl Lavaei, L. D. Lillo, Margherita Atzei, A. Censi, E. Frazzoli","doi":"10.1145/3501710.3524735","DOIUrl":"https://doi.org/10.1145/3501710.3524735","url":null,"abstract":"This work proposes a compositional data-driven approach for the formal estimation of collision risks for autonomous vehicles (AVs) with black-box dynamics acting in stochastic multi-agent environ-ments. The proposed technique is based on the construction of sub-barrier certificates via a set of data collected from trajectories of each stochastic agent while providing a-priori guaranteed confidence on the data-driven estimation. In our proposed setting, we first cast the original collision risk problem of each agent as a robust optimization program (ROP) and provide a scenario optimization program (SOP) corresponding to the original ROP by collecting finite numbers of data from trajectories of each agent. We then establish a probabilistic bridge between the optimal value of SOP and that of ROP, and accordingly, formally construct a sub-barrier certificate for each unknown agent based on number of data and a required level of confidence. We eventually propose a compositional technique based on small-gain reasoning to quantify the collision risk for multi-agent AVs with some guaranteed confidence based on data-driven sub-barrier certificates of individual agents.","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122998144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Distributed Hybrid Gradient Algorithm with Application to Cooperative Adaptive Estimation 分布式混合梯度算法及其在协同自适应估计中的应用

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519528

M. Maghenem, Adnane Saoud, A. Loría

{"title":"Distributed Hybrid Gradient Algorithm with Application to Cooperative Adaptive Estimation","authors":"M. Maghenem, Adnane Saoud, A. Loría","doi":"10.1145/3501710.3519528","DOIUrl":"https://doi.org/10.1145/3501710.3519528","url":null,"abstract":"We address a classical identification problem that consists in estimating a vector of constant unknown parameters from a given linear input/output relationship. The proposed method relies on a network of gradient-descent-based estimators, each of which exploits only a portion of the input-output data. A key feature of the method is that the input-output signals are hybrid, so they may evolve in continuous time (i.e., they may flow), or they may change at isolated time instances (i.e., they may jump). The estimators are interconnected over a weakly-connected directed graph, so the alternation of flows and jumps combined with the distributed character of the algorithm introduce a rich behavior that is impossible to obtain using continuous- or discrete-time estimators. A condition of persistence of excitation in hybrid form ensures exponential convergence of the estimation errors. The proposed approach generalizes the existing centralized gradient-descent algorithms and yields relaxed sufficient conditions for (uniform-exponential) parameter estimation. In addition, we address the observation/identification problem for a class of hybrid systems with unknown parameters using a distributed network of adaptive observers/identifiers.","PeriodicalId":194680,"journal":{"name":"Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129174090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability of discrete-time switched linear systems with ω-regular switching sequences 具有ω-正则开关序列的离散时间切换线性系统的稳定性

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519543

Georges Aazan, A. Girard, P. Mason, L. Greco

引用次数: 2

Necessary and Sufficient Conditions for Template-Dependent Ordering of Path-Complete Lyapunov Methods 路径完备Lyapunov方法模板依赖排序的充分必要条件

Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control Pub Date : 2022-05-04 DOI: 10.1145/3501710.3519539

Virginie Debauche, M. D. Rossa, R. Jungers

引用次数: 2