EECI 2012: Receding Horizon Temporal Logic Planning

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The first part of 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. In the second part, we present some of our recent results on the compositional synthesis of distributed, reactive control protocols.

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.