Characterizing finite Kripke structures in propositional temporal logic
Theoretical Computer Science - International Joint Conference on Theory and Practice of Software Development, P
Communication and Concurrency
Fast LTL to Büchi Automata Translation
CAV '01 Proceedings of the 13th International Conference on Computer Aided Verification
A Control Lyapunov Approach to Predictive Control of Hybrid Systems
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Dealing with Nondeterminism in Symbolic Control
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Optimal path planning for surveillance with temporal-logic constraints*
International Journal of Robotics Research
Solving games without determinization
CSL'06 Proceedings of the 20th international conference on Computer Science Logic
Synthesis of reactive(1) designs
VMCAI'06 Proceedings of the 7th international conference on Verification, Model Checking, and Abstract Interpretation
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Control of systems integrating logic, dynamics, and constraints
Automatica (Journal of IFAC)
LTL to büchi automata translation: fast and more deterministic
TACAS'12 Proceedings of the 18th international conference on Tools and Algorithms for the Construction and Analysis of Systems
| Hi-index | 22.14 |
This paper considers receding horizon control of finite deterministic systems, which must satisfy a high level, rich specification expressed as a linear temporal logic formula. Under the assumption that time-varying rewards are associated with states of the system and these rewards can be observed in real-time, the control objective is to maximize the collected reward while satisfying the high level task specification. In order to properly react to the changing rewards, a controller synthesis framework inspired by model predictive control is proposed, where the rewards are locally optimized at each time-step over a finite horizon, and the optimal control computed for the current time-step is applied. By enforcing appropriate constraints, the infinite trajectory produced by the controller is guaranteed to satisfy the desired temporal logic formula. Simulation results demonstrate the effectiveness of the approach.