Handbook of theoretical computer science (vol. B)
The temporal logic of reactive and concurrent systems
The temporal logic of reactive and concurrent systems
Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
Logic in Computer Science: Modelling and Reasoning about Systems
Logic in Computer Science: Modelling and Reasoning about Systems
Approximate Simulation Relations for Hybrid Systems
Discrete Event Dynamic Systems
Brief paper: Hierarchical control system design using approximate simulation
Automatica (Journal of IFAC)
Constrained Control and Estimation: An Optimisation Approach
Constrained Control and Estimation: An Optimisation Approach
Synthesis of reactive(1) designs
VMCAI'06 Proceedings of the 7th international conference on Verification, Model Checking, and Abstract Interpretation
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
TuLiP: a software toolbox for receding horizon temporal logic planning
Proceedings of the 14th international conference on Hybrid systems: computation and control
Generalized rabin(1) synthesis with applications to robust system synthesis
NFM'11 Proceedings of the Third international conference on NASA Formal methods
Revisiting synthesis of GR(1) specifications
HVC'10 Proceedings of the 6th international conference on Hardware and software: verification and testing
Analyzing unsynthesizable specifications for high-level robot behavior using LTLMoP
CAV'11 Proceedings of the 23rd international conference on Computer aided verification
Optimal path planning for surveillance with temporal-logic constraints*
International Journal of Robotics Research
JTLV: a framework for developing verification algorithms
CAV'10 Proceedings of the 22nd international conference on Computer Aided Verification
Synthesis of Reactive(1) designs
Journal of Computer and System Sciences
On synthesizing robust discrete controllers under modeling uncertainty
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Effective synthesis of asynchronous systems from GR(1) specifications
VMCAI'12 Proceedings of the 13th international conference on Verification, Model Checking, and Abstract Interpretation
Rigorous design of robot software: A formal component-based approach
Robotics and Autonomous Systems
Temporal logic for process specification and recognition
Intelligent Service Robotics
Least-violating control strategy synthesis with safety rules
Proceedings of the 16th international conference on Hybrid systems: computation and control
Iterative temporal motion planning for hybrid systems in partially unknown environments
Proceedings of the 16th international conference on Hybrid systems: computation and control
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In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consists of a goal generator, a trajectory planner, and a continuous controller. The goal generator essentially reduces the trajectory generation problem to a sequence of smaller problems of short horizon while preserving the desired system-level temporal properties. Subsequently, in each iteration, the trajectory planner solves the corresponding short-horizon problem with the currently observed state as the initial state and generates a feasible trajectory to be implemented by the continuous controller. Based on the simulation property, we show that the composition of the goal generator, trajectory planner and continuous controller and the corresponding receding horizon framework guarantee the correctness of the system. To handle failures that may occur due to a mismatch between the actual system and its model, we propose a response mechanism and illustrate, through an example, how the system is capable of responding to certain failures and continues to exhibit a correct behavior.