Difference between revisions of "EECI 2012: Receding Horizon Temporal Logic Planning"

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This lecture introduces the receding horizon temporal logic planning. Introductory material on high computational complexity of reactive control protocol synthesis is followed by the statement and discussion of a main result and a small example. We discuss implementation details, further extensions, and a hierarchical control structure that utilizes the proposed receding horizon temporal logic planning procedure. At the end, we discuss an abstraction procedure based on finite-time reachability from control theory for constructing finite-state approximations of the underlying continuous dynamics.  
 
This lecture introduces the receding horizon temporal logic planning. Introductory material on high computational complexity of reactive control protocol synthesis is followed by the statement and discussion of a main result and a small example. We discuss implementation details, further extensions, and a hierarchical control structure that utilizes the proposed receding horizon temporal logic planning procedure. At the end, we discuss an abstraction procedure based on finite-time reachability from control theory for constructing finite-state approximations of the underlying continuous dynamics.  

Revision as of 06:13, 22 April 2012

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This lecture introduces the receding horizon temporal logic planning. Introductory material on high computational complexity of reactive control protocol synthesis is followed by the statement and discussion of a main result and a small example. We discuss implementation details, further extensions, and a hierarchical control structure that utilizes the proposed receding horizon temporal logic planning procedure. At the end, we discuss an abstraction procedure based on finite-time reachability from control theory for constructing finite-state approximations of the underlying continuous dynamics.


Lecture Materials

Further Reading and Additional Information

  • Predictive Control: A book draft by Bemporap, Borrelli, and Morari. Details on some of the ideas in the implementation of the abstraction procedure presented in the slides can be found in this book.