Optimal receding horizon control for finite deterministic systems with temporal logic constraints
| Autor: | Calin Belta, Maria Svorenova, Ivana Černá |
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| Rok vydání: | 2013 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Mathematical optimization Correctness business.industry Horizon Linear system Robotics 02 engineering and technology Optimal control Computer Science - Robotics 020901 industrial engineering & automation Linear temporal logic Control theory Transition system 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Temporal logic Artificial intelligence business Robotics (cs.RO) Mathematics |
| Zdroj: | ACC Scopus-Elsevier |
| 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. Technical report accompanying the ACC 2013 paper |
| Databáze: | OpenAIRE |
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