A monitoring framework based on pacSTL and data-driven reachable sets, with a sim-to-real disturbance calibration, enables real-time COLREG compliance monitoring and earlier collision avoidance.
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications,
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Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
A monitoring framework based on pacSTL and data-driven reachable sets, with a sim-to-real disturbance calibration, enables real-time COLREG compliance monitoring and earlier collision avoidance.