LTL receding horizon control for finite deterministic systems

This paper considers receding horizon control of finite deterministic systems, which must satisfy a high level, rich specification expressed as a linear temporal logic formula. Under the assumption that timevarying rewards are associated with states of the system and these rewards can be observed in real-time, the control objective is tomaximize the collected rewardwhile satisfying the high level task specification. In order to properly react to the changing rewards, a controller synthesis framework inspired by model predictive control is proposed, where the rewards are locally optimized at each time-step over a finite horizon, and the optimal control computed for the current time-step is applied. By enforcing appropriate constraints, the infinite trajectory produced by the controller is guaranteed to satisfy the desired temporal logic formula. Simulation results demonstrate the effectiveness of the approach. © 2013 Elsevier Ltd. All rights reserved.