Synthesis of Non-blocking Controllers for Linear Temporal Logic Tasks under Partial Observations⋆

Abstract

In this paper, we investigate the formal synthesis of discrete controllers for linear temporal logic tasks under partial information. Existing works on this topic mainly focus on find sure winning or almost sure winning control strategies under some assumptions regarding the system's atomic propositions. In this work, we consider non-blockingness as the metric as the achievement of the task. Specifically, we require that at each instant, the controller maintains the possibility to achieve the LTL task under some environment's behavior. We first present an offline algorithm for the computation of the winning region over the belief state space. Then we present an online control algorithm that effective solves the control synthesis problem. The proposed control algorithm is also illustrated by a case study of robot task planning.