Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations.
Zhaoyuan GuRongming GuoWilliam YatesYipu ChenYe ZhaoPublished in: CoRR (2023)
Keyphrases
- temporal logic
- model checking
- model predictive control
- satisfiability problem
- modal logic
- predictive control
- concurrent systems
- linear temporal logic
- belief revision
- verification method
- control system
- temporal knowledge
- computation tree logic
- transition systems
- formal verification
- closed loop
- artificial intelligence
- degrees of freedom
- dynamic constraints
- neural network
- real time