{"id":"https://openalex.org/W565374110","doi":"https://doi.org/10.1109/iros.2015.7353864","title":"Online horizon selection in receding horizon temporal logic planning","display_name":"Online horizon selection in receding horizon temporal logic planning","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W565374110","doi":"https://doi.org/10.1109/iros.2015.7353864","mag":"565374110"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353864","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/8167640","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074189357","display_name":"Vasumathi Raman","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vasumathi Raman","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology. Pasadena USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology. Pasadena USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051310171","display_name":"Mattias F\u00e4lt","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mattias Falt","raw_affiliation_strings":["Automatic Control LTH, Lund University, Lund, Sweden","Automatic Control LTH Lund University, Box 118, SE-221 00, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Automatic Control LTH Lund University, Box 118, SE-221 00, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017176660","display_name":"Tichakorn Wongpiromsarn","orcid":"https://orcid.org/0000-0002-3977-122X"},"institutions":[{"id":"https://openalex.org/I4210110022","display_name":"Thailand Center of Excellence in Physics","ror":"https://ror.org/01td4p294","country_code":"TH","type":"facility","lineage":["https://openalex.org/I4210110022"]},{"id":"https://openalex.org/I4389425462","display_name":"Thailand Center of Excellence for Life Sciences","ror":"https://ror.org/05qwjzv06","country_code":null,"type":"government","lineage":["https://openalex.org/I4389425462"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Tichakorn Wongpiromsarn","raw_affiliation_strings":["Thailand Center of Excellence for Life Sciences, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Thailand Center of Excellence for Life Sciences, Bangkok, Thailand","institution_ids":["https://openalex.org/I4210110022","https://openalex.org/I4389425462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068600217","display_name":"Richard M. Murray","orcid":"https://orcid.org/0000-0002-5785-7481"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard M. Murray","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology. Pasadena USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology. Pasadena USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3493","last_page":"3499"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10126","display_name":"Logic, programming, and type systems","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nondeterministic-algorithm","display_name":"Nondeterministic algorithm","score":0.7201947569847107},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.7087979316711426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6373938918113708},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5645022392272949},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5562804937362671},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.48505300283432007},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.46115872263908386},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4545227587223053},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.451959490776062},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42976799607276917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2969821095466614},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2804831862449646},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21710240840911865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21089640259742737},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16445615887641907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16079461574554443}],"concepts":[{"id":"https://openalex.org/C176181172","wikidata":"https://www.wikidata.org/wiki/Q3490301","display_name":"Nondeterministic algorithm","level":2,"score":0.7201947569847107},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.7087979316711426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373938918113708},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5645022392272949},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5562804937362671},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.48505300283432007},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.46115872263908386},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4545227587223053},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.451959490776062},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42976799607276917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2969821095466614},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2804831862449646},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21710240840911865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21089640259742737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16445615887641907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16079461574554443},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2015.7353864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353864","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:55363","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/55363/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report or Paper"},{"id":"pmh:oai:authors.library.caltech.edu:66080","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20160412-095801286","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:lup.lub.lu.se:82159bcf-1a72-43eb-a376-bf58fc3942da","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/8167640","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:82159bcf-1a72-43eb-a376-bf58fc3942da","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/8167640","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W565374110","https://openalex.org/W1985919024","https://openalex.org/W1991698050","https://openalex.org/W2016206563","https://openalex.org/W2041701185","https://openalex.org/W2044323243","https://openalex.org/W2055101460","https://openalex.org/W2064572756","https://openalex.org/W2071797744","https://openalex.org/W2092884371","https://openalex.org/W2095274657","https://openalex.org/W2117218135","https://openalex.org/W2127203018","https://openalex.org/W2142547161","https://openalex.org/W2150335178","https://openalex.org/W2151896566","https://openalex.org/W2163941698","https://openalex.org/W2165364079","https://openalex.org/W2167185915","https://openalex.org/W2272086451","https://openalex.org/W2340735175","https://openalex.org/W2913459036","https://openalex.org/W3023554972","https://openalex.org/W6674485495","https://openalex.org/W6682665074","https://openalex.org/W6694151941"],"related_works":["https://openalex.org/W2906267174","https://openalex.org/W2063496519","https://openalex.org/W134501823","https://openalex.org/W3007651280","https://openalex.org/W2615656344","https://openalex.org/W2130415189","https://openalex.org/W1501020676","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W2333245620"],"abstract_inverted_index":{"Temporal":[0],"logics":[1],"have":[2,31,85],"proven":[3],"effective":[4],"for":[5,10,27,54],"correct-by-construction":[6],"synthesis":[7,26,56],"of":[8,14,24,41,119,140],"controllers":[9],"a":[11,38,50,60,107,127],"wide":[12],"range":[13],"robotic":[15],"applications.":[16],"Receding":[17],"horizon":[18,43,52,83,143],"frameworks":[19],"mitigate":[20,137],"the":[21,46,63,98,102,112,117,138,141],"computational":[22],"intractability":[23],"reactive":[25,55],"temporal":[28],"logic,":[29],"but":[30],"thus":[32],"far":[33],"been":[34],"limited":[35],"by":[36,79],"pursuing":[37],"single":[39],"sequence":[40],"short":[42,82],"problems":[44],"to":[45,62,72,84,94],"goal.":[47,114],"We":[48,115],"propose":[49],"receding":[51,142],"algorithm":[53],"that":[57,133],"automatically":[58],"determines":[59],"path":[61],"currently":[64,103],"pursued":[65],"goal":[66,93],"at":[67],"runtime,":[68],"responding":[69],"as":[70],"needed":[71],"nondeterministic":[73],"environment":[74,105],"behavior.":[75],"This":[76],"is":[77],"achieved":[78],"allowing":[80],"each":[81],"multiple":[86],"local":[87,92],"goals,":[88],"and":[89,106],"determining":[90],"which":[91],"pursue":[95],"based":[96],"on":[97,111],"current":[99],"global":[100,113],"goal,":[101],"perceived":[104],"pre-computed":[108],"invariant":[109],"dependent":[110],"demonstrate":[116],"utility":[118],"this":[120],"additional":[121],"flexibility":[122],"in":[123],"grant-response":[124],"tasks,":[125],"using":[126],"search-and-rescue":[128],"example.":[129],"Moreover,":[130],"we":[131],"show":[132],"these":[134],"goal-dependent":[135],"invariants":[136],"conservativeness":[139],"approach.":[144]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}