Online Horizon Selection in Receding Horizon Temporal Logic Planning
Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard Murray

Citation
Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard Murray. "Online Horizon Selection in Receding Horizon Temporal Logic Planning". 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

Abstract
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.

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Citation formats

• HTML

  Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard
  Murray. <a
  href="http://www.terraswarm.org/pubs/396.html"
  >Online Horizon Selection in Receding Horizon Temporal
  Logic Planning</a>, 2015 IEEE/RSJ International
  Conference on Intelligent Robots and Systems, 2015.

• Plain text

  Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard
  Murray. "Online Horizon Selection in Receding Horizon
  Temporal Logic Planning". 2015 IEEE/RSJ International
  Conference on Intelligent Robots and Systems, 2015.

• BibTeX

  @inproceedings{RamanFaltWongpiromsarnMurray15_OnlineHorizonSelectionInRecedingHorizonTemporalLogic,
      author = {Vasu Raman and Mattias Falt and Tichakorn
                Wongpiromsarn and Richard Murray},
      title = {Online Horizon Selection in Receding Horizon
                Temporal Logic Planning},
      booktitle = {2015 IEEE/RSJ International Conference on
                Intelligent Robots and Systems},
      year = {2015},
      abstract = {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.},
      URL = {http://terraswarm.org/pubs/396.html}
  }
  

Posted by Vasu Raman on 27 Oct 2014.
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