Optimal receding horizon control for finite deterministic systems with temporal logic constraints
Files
Accepted manuscript
Date
2013-01-01
Authors
Svorenova, Maria
Cerna, Ivana
Belta, Calin
Version
OA Version
Citation
Maria Svorenova, Ivana Cerna, Calin Belta. 2013. "Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints." 2013 AMERICAN CONTROL CONFERENCE (ACC), pp. 4399 - 4404 (6).
Abstract
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.