View source for Online Horizon Selection in Receding Horizon Temporal Logic Planning

{{HTDB paper
| authors = Vasumathi Raman, Mattias FÃ¤lt, Tichakorn Wongpiromsarn, Richard M. Murray
| title = Online Horizon Selection in Receding Horizon Temporal Logic Planning
| source = Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC)
| year = 2014
| type = Conference Paper
| funding = TerraSwarm
| url = http://www.cds.caltech.edu/~murray/preprints/rfwm15-hscc_s.pdf
| abstract = 
Temporal logics have proven effective for correct-by-construction
synthesis of controllers for a wide range of
applications. Receding horizon frameworks mitigate the
computational intractability of reactive synthesis for temporal
logic, but have thus far been limited by pursuing a single
sequence of short horizon problems to the current goal. We
propose a receding horizon algorithm for reactive synthesis that
automatically determines a path to the currently pursued goal at
runtime, in response to a nondeterministic environment. This is
achieved by allowing each short horizon to have multiple local
goals, and determining which local goal to pursue based on the
current global goal, currently perceived environment and a
pre-computed invariant dependent on each global goal. We
demonstrate the utility of this additional flexibility in
grant-response tasks, using a search-and-rescue
example. Moreover, we show that these goal-dependent invariants
mitigate the conservativeness of the receding horizon approach.
| flags = 
| filetype = PDF
| filesize = 816K
| tag = rfwm15-hscc
| id = 2014j
}}