Synthesis of Joint Control and Active Sensing Strategies Under Temporal Logic Constraints

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.