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Description
  • 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.
  • 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. (en)
Title
  • Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints
  • Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints (en)
skos:prefLabel
  • Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints
  • Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints (en)
skos:notation
  • RIV/00216224:14330/13:00065947!RIV14-MSM-14330___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GAP202/11/0312), P(LH11065)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 94307
http://linked.open...ai/riv/idVysledku
  • RIV/00216224:14330/13:00065947
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [FE04F0923EFF]
http://linked.open...v/mistoKonaniAkce
  • Washington, DC
http://linked.open...i/riv/mistoVydani
  • Neuveden
http://linked.open...i/riv/nazevZdroje
  • Proceedings of The 2013 American Control Conference
http://linked.open...in/vavai/riv/obor
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http://linked.open...vavai/riv/projekt
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http://linked.open...iv/tvurceVysledku
  • Černá, Ivana
  • Belta, Calin
  • Svoreňová, Mária
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
issn
  • 0743-1619
number of pages
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  • Institute of Electrical and Electronics Engineers ( IEEE )
https://schema.org/isbn
  • 9781479901777
http://localhost/t...ganizacniJednotka
  • 14330
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