  This paper concerns the risk-aware control of stochastic systems with
temporal logic specifications dynamically assigned during runtime. Conventional
risk-aware control typically assumes that all specifications are predefined and
remain unchanged during runtime. In this paper, we propose a novel, provably
correct model predictive control scheme for linear systems with additive
unbounded stochastic disturbances that dynamically evaluates the feasibility of
runtime signal temporal logic specifications and automatically reschedules the
control inputs accordingly. The control method guarantees the probabilistic
satisfaction of newly accepted specifications without sacrificing the
satisfaction of the previously accepted ones. The proposed control method is
validated by a robotic motion planning case study.
