Synthesis of Joint Control and Active Sensing Strategies Under Temporal Logic Constraints
Synthesis of Joint Control and Active Sensing Strategies Under Temporal Logic Constraints
复制标题
时间逻辑约束下联合控制和主动感知策略的综合
DOI：
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发表时间：
2016
影响因子：
6.8
通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
Jie Fu;U. Topcu
本文提出了一种方法来控制离散系统的不完全信息和传感能力，与时间逻辑约束。该方法引入主动传感，以减轻不完全信息下与不可控环境相互作用的系统的控制设计中的计算工作量。特别地，它将完全信息下的确定性控制器转化为随机的、基于观测的控制器。交错后者与战略查询传感器，时序逻辑规范被证明是满足几乎肯定。机器人运动规划的例子证明了该方法的有效性。
This paper proposes an approach to control of discrete systems with incomplete information and sensing capabilities, with respect to temporal logic constraints. The approach introduces active sensing to alleviate computational effort in control design for systems interacting with uncontrollable environments under incomplete information. Particularly, it transforms a deterministic controller under complete information into a randomized, observation-based controller. Interleaving the latter with strategic queries to sensors, the temporal logic specification is proven to be satisfied almost surely. The effectiveness of the method is demonstrated with robotic motion planning examples.