Informace o publikaci

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



Druh Článek ve sborníku
Konference Proceedings of The 2013 American Control Conference
Fakulta / Pracoviště MU

Fakulta informatiky

Obor Informatika
Klíčová slova optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance
Popis 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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