Receding horizon temporal logic planning for dynamical systems
Abstract
This paper bridges the advances in computer science and control to allow automatic synthesis of control strategies for complex dynamical systems which are guaranteed, by construction, to satisfy the desired properties even in the presence of adversary. The desired properties are expressed in the language of temporal logic. With its expressive power, a wider class of properties than safety and stability can be specified. The resulting system consists of a discrete planner that plans, in the abstracted discrete domain, a set of transitions of the system to ensure the correct behaviors and a continuous controller that continuously implements the plan. To address the computational difficulties in the synthesis of a discrete planner, we present a receding horizon based scheme for executing finite state automata that essentially reduces the synthesis problem to a set of smaller problems.
Additional Information
© 2009 IEEE. This work is partially supported by AFOSR and the Boeing Corporation. The authors gratefully acknowledge Hadas Kress-Gazit for the inspiring discussions on the automatic synthesis of finite state automata, for her suggestions and help with the synthesis tool, and for the code for generating an input to the synthesis tool and extracting its output; K. Mani Chandy and Knot Pipatsrisawat for the discussions and comments regarding the restriction of domain for the synthesis problem; and Vanessa Jönsson for thoughtful comments on the paper.Attached Files
Published - 05399536.pdf
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Additional details
- Eprint ID
- 94051
- Resolver ID
- CaltechAUTHORS:20190322-110325145
- Air Force Office of Scientific Research (AFOSR)
- Boeing Corporation
- Created
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2019-03-22Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field