Abstract-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. Index Terms-Active sensing, computational game theory, control, formal methods, temporal logic.
The synthesis of joint control and sensing strategies for discrete systems with incomplete information and sensing is presented in REF .
Synthesis of Joint Control and Active Sensing Strategies Under Temporal Logic Constraints
IEEE Transactions on Automatic Control
IEEE Transactions on Automatic Control
Computer Science