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.

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.