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

Autoři SVOREŇOVÁ Mária — ČERNÁ Ivana — BELTA Calin
Druh Článek ve sborníku
Citace SVOREŇOVÁ, Mária, Ivana ČERNÁ a Calin BELTA. Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints. In Proceedings of The 2013 American Control Conference. Neuveden: Institute of Electrical and Electronics Engineers ( IEEE ), 2013. s. 4399 - 4404, 6 s. ISBN 978-1-4799-0177-7.
Originální jazyk angličtina
Obor Informatika
WWW http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580517&refinements%3D4279887434%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6579790%29
Klíčová slova optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance

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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