EECI 2012: Receding Horizon Temporal Logic Planning
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 slides: Receding Horizon Temporal Logic Planning
Further Reading and Additional Information
Receding horizon temporal logic planning,T. Wongpiromsarn, U. Topcu, and R. Murray, submitted to IEEE Transactions on Automatic Control, 2010. Details on the receding horizon temporal logic planning.
Optimization based control. A page prepared for EECI 2008 with information and material on basic receding horizon control.
Multiparametric Toolbox The Multi-Parametric Toolbox (MPT) is a free Matlab toolbox for design, analysis and deployment of optimal controllers for constrained linear, nonlinear and hybrid systems. The receding horizon temporal logic planning toolbox uses the polytope manipulation (intersection, union, set difference, projection, etc.) functionalities of MPT.
Automatic synthesis of robust embedded control software, T. Wongpiromsarn, U. Topcu, and R. Murray, AAAI 2010 Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010. Details on the abstraction procedure covered in this lecture.
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.