# Reactive and Risk-Aware Control for Signal Temporal Logic

arXiv: https://arxiv.org/abs/2108.13490 · HTML: https://mlsanity.com/paper/2108.13490/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Aug 2021.

## Built on by (most cited first, 5 of 5)

- [Risk-averse autonomous systems: A brief history and recent developments from the perspective of optimal control](https://mlsanity.com/paper/2109.08947/) (2021)
- [Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning](https://mlsanity.com/paper/2311.00063/) (2023)
- [Risk-Awareness in Learning Neural Controllers for Temporal Logic Objectives](https://mlsanity.com/paper/2210.07439/) (2022)
- [Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data](https://mlsanity.com/paper/2212.06253/) (2022)
- [Reward Machines for Signal Temporal Logic](https://mlsanity.com/paper/2608.13625/) (2026)

## Abstract (arXiv)

The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We first propose reactive risk signal interval temporal logic (ReRiSITL) as an extension of signal temporal logic (STL) to formulate complex spatiotemporal specifications. Unlike STL, ReRiSITL allows to consider uncontrollable propositions that may model humans as well as random environmental events such as sensor failures. Additionally, ReRiSITL allows to incorporate risk measures, such as (but not limited to) the Conditional Value-at-Risk, to measure the risk of violating certain spatial specifications. Second, we propose an algorithm to check if an ReRiSITL specification is satisfiable. For this purpose, we abstract the ReRiSITL specification into a timed signal transducer and devise a game-based approach. Third, we propose a reactive planning and control framework for dynamical control systems under ReRiSITL specifications.