2020/09/24 by Tichakorn Wongpiromsarn, Konstantin Slutsky, Wongpiromsarn, Tichakorn +5 · 1 citation
Computer Science · #Advanced Database Systems and Queries #Bayesian Modeling and Causal Inference #FOS: Computer and information sciences #Formal Methods in Verification #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2009.11954
openalex publication_date 2020/09/24 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
This paper considers the problem of computing an optimal trajectory for an\nautonomous system that is subject to a set of potentially conflicting rules.\nFirst, we introduce the concept of prioritized safety specifications, where\neach rule is expressed as a temporal logic formula with its associated weight\nand priority. The optimality is defined based on the violation of such\nprioritized safety specifications. We then introduce a class of temporal logic\nformulas called textrmsi-FLTL\GX and develop an efficient,\nincremental sampling-based approach to solve this minimum-violation planning\nproblem with guarantees on asymptotic optimality. We illustrate the application\nof the proposed approach in autonomous vehicles, showing that\n textrmsi-FLTL\GX formulas are sufficiently expressive to\ndescribe many traffic rules. Finally, we discuss practical considerations and\npresent simulation results for a vehicle overtaking scenario.\n