Receding horizon control for temporal logic specifications

  title={Receding horizon control for temporal logic specifications},
  author={Tichakorn Wongpiromsarn and Ufuk Topcu and Richard M. Murray},
In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consists of a goal generator, a trajectory planner, and a continuous controller. The goal generator essentially reduces the trajectory generation problem to a sequence of smaller problems of short horizon while… CONTINUE READING
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