Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints

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Authors

SVOREŇOVÁ Mária ČERNÁ Ivana BELTA Calin

Year of publication 2013
Type Article in Proceedings
Conference Proceedings of The 2013 American Control Conference
MU Faculty or unit

Faculty of Informatics

Citation
Web http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580517&refinements%3D4279887434%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6579790%29
Doi http://dx.doi.org/10.1109/ACC.2013.6580517
Field Informatics
Keywords optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance
Description In this paper, we develop a provably correct optimal control strategy for a finite deterministic transition system. By assuming that penalties with known probabilities of occurrence and dynamics can be sensed locally at the states of the system, we derive a receding horizon strategy that minimizes the expected average cumulative penalty incurred between two consecutive satisfactions of a desired property. At the same time, we guarantee the satisfaction of correctness specifications expressed as Linear Temporal Logic formulas. We illustrate the approach with a persistent surveillance robotics application.
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