Logic-based Knowledge Awareness for Autonomous Agents in Continuous Spaces

TL;DR

This paper introduces a formal, knowledge-aware controller design method for autonomous agents in continuous spaces, enabling dynamic updates based on knowledge base changes and ensuring mission compliance.

Contribution

It develops a dynamic, knowledge-based controller design approach using abstraction-based methods capable of handling nonlinear dynamics and temporal specifications.

Findings

Successfully navigates a nonlinear car model in urban scenarios

Ensures compliance with knowledge base and mission objectives

Demonstrates effectiveness in dynamic knowledge updates

Abstract

This paper presents a step towards a formal controller design method for autonomous agents based on knowledge awareness to improve decision-making. Our approach is to first create an organized repository of information (a knowledge base) for autonomous agents which can be accessed and then translated into temporal specifications. Secondly, to develop a controller with formal guarantees that meets a combination of mission-specific objective and the specification from the knowledge base, we utilize an abstraction-based controller design (ABCD) approach, capable of managing both nonlinear dynamics and temporal requirements. Unlike the conventional offline ABCD approach, our method dynamically updates the controller whenever the knowledge base prompts changes in the specifications. A three-dimensional nonlinear car model navigating an urban road scenario with traffic signs and obstacles is considered for validation. Results show the effectiveness of the method in guiding the autonomous agents to the target while complying with the knowledge base and the mission-specific objective.