Room 206 (2nd floor, badged access)
15 October 2026 - 14h00
Ensemble STL Monitoring: From Violation Prediction to Online Corrective Control
by Antoine Besset from ENSTA
invited by Alexandre DONZE
15 October 2026 - 14h00
Ensemble STL Monitoring: From Violation Prediction to Online Corrective Control
by Antoine Besset from ENSTA
invited by Alexandre DONZE
Abstract: Ensemble STL monitoring evaluates a formula over a reachability tube: each sub-formula becomes a satisfaction signal with values in Boolean intervals ([1,1], [0,0], [0,1]). The verdict yields: guaranteed satisfaction, guaranteed violation, or indeterminate. However, a verdict is not a corrective action. We therefore complete the chain: from the verdict to the identification of its cause, and then to the corrective action. The diagnosis is performed in a few milliseconds and produces constraints, which are exploited using two approaches. The first encodes the corrective commands as control variations within the reachability analysis, each followed by its own noise symbol. The second is based on an MPC formulation, embedded with CasADi. The entire system is applied to a fixed-wing drone flying at nearly 100 km/h, with all algorithms embedded on a Jetson Orin Nano.
