Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints
| Authors | |
|---|---|
| Year of publication | 2013 |
| Type | Article in Proceedings |
| Conference | Proceedings of The 2013 American Control Conference |
| MU Faculty or unit | |
| 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. |
| Related projects: |