On-Line Supervisory Control for Surveillance under Partial Observation with scLTL Specifications

Abstract

Linear temporal logic (LTL) [1] is a formal language with rich expressibility and provides a formal description of complex task specifications for robots. In a surveillance problem, for example, mobile robots move around the target environment and collect data with attached sensors. In this abstract, we consider a control problem of a mobile robot working for a surveillance mission. We apply supervisory control to enforce the high-level behavior of the robot defined in an abstracted model [2] to satisfy a given syntactically cosafe LTL (scLTL) specification [3] . We extend the method proposed in [4] to the case under partial observation.