Optimal Receding Horizon Control for Finite Deterministic
Systems with Temporal Logic Constraints

D 2013

Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints

SVOREŇOVÁ, Mária; Ivana ČERNÁ and Calin BELTA

Basic information

Original name

Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints

Authors

SVOREŇOVÁ, Mária (703 Slovakia, belonging to the institution); Ivana ČERNÁ (203 Czech Republic, guarantor, belonging to the institution) and Calin BELTA (840 United States of America)

Edition

Neuveden, Proceedings of The 2013 American Control Conference, p. 4399-4404, 6 pp. 2013

Publisher

Institute of Electrical and Electronics Engineers ( IEEE )

Other information

Language

English

Type of outcome

Proceedings paper

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

Czech Republic

Confidentiality degree

is not subject to a state or trade secret

Publication form

electronic version available online

References:

URL

RIV identification code

RIV/00216224:14330/13:00065947

Organization unit

Faculty of Informatics

ISBN

978-1-4799-0177-7

ISSN

DOI

http://dx.doi.org/10.1109/ACC.2013.6580517

UT WoS

000327210204097

Keywords in English

optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance

Abstract

V originále

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.

Links

GAP202/11/0312, research and development project

Name: Vývoj a verifikace softwarových komponent v zapouzdřených systémech (Acronym: Components in Embedded Systems)

Investor: Czech Science Foundation

LH11065, research and development project

Name: Řízení a ověřování vlastností komplexních hybridních systémů (Acronym: Řízení a ověřování vlastností komplexních hybridní)

Investor: Ministry of Education, Youth and Sports of the CR

MUNI/A/0760/2012, interní kód MU

Name: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace II. (Acronym: FI MAV II.)

Investor: Masaryk University, Category A

Cite

SVOREŇOVÁ, Mária; Ivana ČERNÁ and Calin BELTA. Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints. Online. In Proceedings of The 2013 American Control Conference. Neuveden: Institute of Electrical and Electronics Engineers ( IEEE ), 2013, p. 4399-4404. ISBN 978-1-4799-0177-7. Available from: https://dx.doi.org/10.1109/ACC.2013.6580517.

@inproceedings{1074138,
   author = {Svoreňová, Mária and Černá, Ivana and Belta, Calin},
   address = {Neuveden},
   booktitle = {Proceedings of The 2013 American Control Conference},
   doi = {http://dx.doi.org/10.1109/ACC.2013.6580517},
   keywords = {optimal control; receding horizon; temporal logic; finite deterministic transition system; robots; persistent surveillance},
   howpublished = {elektronická verze "online"},
   language = {eng},
   location = {Neuveden},
   isbn = {978-1-4799-0177-7},
   pages = {4399-4404},
   publisher = {Institute of Electrical and Electronics Engineers ( IEEE )},
   title = {Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints},
   url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580517&refinements%3D4279887434%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6579790%29},
   year = {2013}
}

TY  - CONF
ID  - 1074138
AU  - Svoreňová, Mária - Černá, Ivana - Belta, Calin
PY  - 2013
TI  - Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints
PB  - Institute of Electrical and Electronics Engineers ( IEEE )
CY  - Neuveden
SN  - 9781479901777
KW  - optimal control
KW  - receding horizon
KW  - temporal logic
KW  - finite deterministic transition system
KW  - robots
KW  - persistent surveillance
UR  - http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580517&refinements%3D4279887434%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6579790%29
N2  - 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.
ER  -

SVOREŇOVÁ, Mária; Ivana ČERNÁ and Calin BELTA. Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints. Online. In \textit{Proceedings of The 2013 American Control Conference}. Neuveden: Institute of Electrical and Electronics Engineers ( IEEE ), 2013, p.~4399-4404. ISBN~978-1-4799-0177-7. Available from: https://dx.doi.org/10.1109/ACC.2013.6580517.

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