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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. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3493-3499. ISBN 978-1-4799-9994-1.

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Temporal logics have proven effective for correct-by-construction synthesis of controllers for a wide range of robotic 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 goal. We propose a receding horizon algorithm for reactive synthesis that automatically determines a path to the currently pursued goal at runtime, responding as needed to nondeterministic environment behavior. 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, the currently perceived environment and a pre-computed invariant dependent on the 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:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2015 IEEE. The first author is supported by TerraSwarm, one of six centers of STARnet, a Semiconductor Research Corporation program sponsored by MARCO and DARPA.
Funding AgencyGrant Number
Microelectronics Advanced Research Corp. (MARCO)UNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechAUTHORS:20160412-095801286
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:66080
Deposited On:12 Apr 2016 22:16
Last Modified:10 Nov 2021 23:53

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