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Online Horizon Selection in Receding Horizon Temporal Logic Planning

Raman, Vasumathi and Fält, Mattias and Wongpiromsarn, Tichakorn and Murray, Richard M. (2015) Online Horizon Selection in Receding Horizon Temporal Logic Planning. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2015.001

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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.


Item Type:Report or Paper (Technical Report)
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:This word was supported in part by TerraSwarm, one of six centers of STARnet, a Semiconductor Research Corporation program sponsored by MARCO and DARPA.
Group:Control and Dynamical Systems Technical Reports
Funders:
Funding AgencyGrant Number
MARCOUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechCDSTR:2015.001
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:2015.001
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:55363
Collection:CaltechCDSTR
Deposited By: Vasumathi Raman
Deposited On:02 Mar 2015 23:47
Last Modified:18 Mar 2015 22:37

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