Risk-Aware MPC for Stochastic Systems with Runtime Temporal Logics

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.