The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We first propose reactive risk signal interval temporal logic (ReRiSITL) as an extension of signal temporal logic (STL) to formulate complex spatiotemporal specifications. Unlike STL, ReRiSITL allows to consider uncontrollable propositions that may model humans as well as random environmental events such as sensor failures. Additionally, ReRiSITL allows to incorporate risk measures, such as (but not limited to) the Conditional Value-at-Risk, to measure the risk of violating certain spatial specifications. Second, we propose an algorithm to check if an ReRiSITL specification is satisfiable. For this purpose, we abstract the ReRiSITL specification into a timed signal transducer and devise a game-based approach. Third, we propose a reactive planning and control framework for dynamical control systems under ReRiSITL specifications.

中文翻译：

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信号时序逻辑的反应和风险感知控制

在不确定和动态环境中部署自主系统提出了基本问题。解决这些问题对于构建完全自主的系统至关重要，需要系统地整合规划和控制。我们首先提出反应性风险信号间隔时间逻辑（ReRiSITL）作为信号时间逻辑（STL）的扩展，以制定复杂的时空规范。与 STL 不同，ReRiSITL 允许考虑不可控制的命题，这些命题可能模拟人类以及随机环境事件，例如传感器故障。此外，ReRiSITL 允许纳入风险度量，例如（但不限于）条件风险价值，以度量违反某些空间规范的风险。其次，我们提出了一种算法来检查 ReRiSITL 规范是否可满足。以此目的，我们将 ReRiSITL 规范抽象为定时信号传感器，并设计了一种基于游戏的方法。第三，我们为 ReRiSITL 规范下的动态控制系统提出了一个反应式规划和控制框架。