Receding Horizon Temporal Logic Control in Dynamic Environments

You can download the Python implementation of the algorithm presented in [1] here.
The zip file already contains the LTL Optimal Multi-Agent Planner (LOMAP) package, which is required by the algorithm.
For more information on LOMAP, see here.

How to use:

  • Extract the zip archive.
  • Run the main.py file. If any of the required packages are missing, check the error messages to install them.
  • Once run, the implementation should start simulating the second case-study in [1].
  • If you want to simulate other case studies, change the case variable on line 109 of main.py to case1 or case3.

Note: A preliminary version of this work appeared in [2].


[1] A. Ulusoy, C. Belta, “Receding Horizon Temporal Logic Control in Dynamic Environments”, International Journal of Robotics Research, to appear.
[2] A. Ulusoy, M. Marrazzo, C. Belta, “Receding Horizon Control in Dynamic Environments from Temporal Logic Specifications,” Robotics: Science and Systems 2013, Berlin, Germany, 2013.