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@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 - JOUR
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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