自律システムのための最小違反計画：理論と実践的考察
Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations
優先度付き安全仕様を時相論理で表現し、違反を最小化する軌道を漸近最適性保証付きで求める増分サンプリング手法を提案し、自動運転の交通ルール適用例で有効性を示した論文。
著者: Tichakorn Wongpiromsarn, Konstantin Slutsky, Emilio Frazzoli, Ufuk Topcu
分類: cs.RO
原文アブストラクト
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 $\textrm{si-FLTL}_{\mathsf{G_X}}$ 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 $\textrm{si-FLTL}_{\mathsf{G_X}}$ formulas are sufficiently expressive to describe many traffic rules. Finally, we discuss practical considerations and present simulation results for a vehicle overtaking scenario.
