Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations

This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the concept of prioritized safety specifications, where each rule is expressed as a temporal logic formula with its associated w...

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Bibliographic Details
Published inProceedings of the American Control Conference pp. 4866 - 4872
Main Authors Wongpiromsarn, Tichakorn, Slutsky, Konstantin, Frazzoli, Emilio, Topcu, Ufuk
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 25.05.2021
Subjects
Autonomous vehicles
Collision avoidance
Planning
Safety
Simulation
Trajectory
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ISSN2378-5861
DOI10.23919/ACC50511.2021.9483174

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Summary:This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the concept of prioritized safety specifications, where each rule is expressed as a temporal logic formula with its associated weight and priority. The optimality is defined based on the violation of such prioritized safety specifications. We then introduce a class of temporal logic formulas called si-FLTL Gx and develop an efficient, incremental sampling-based approach to solve this minimum-violation planning problem with guarantees on asymptotic optimality. We illustrate the application of the proposed approach in autonomous vehicles, showing that si-FLTLGx formulas are sufficiently expressive to describe many traffic rules. Finally, we discuss practical considerations and present simulation results for a vehicle overtaking scenario.
ISSN:2378-5861
DOI:10.23919/ACC50511.2021.9483174