  We extend previous work on symbolic self-triggered control for
non-deterministic continuous-time nonlinear systems without stability
assumptions to a larger class of specifications. Our goal is to synthesise a
controller for two objectives: the first one is modelled as a right-recursive
LTL formula, and the second one is to ensure that the communication rate
between the controller and the system stays below a given threshold. We
translate the control problem to solving a mean-payoff parity game played on a
discrete graph. Apart from extending the class of specifications, we propose a
heuristic method to shorten the computation time. Finally, we illustrate our
results on the example of a navigating nonholonomic robot with several
specifications.
