In this paper, we develop a provably correct optimal control strategy for a
finite deterministic transition system. By assuming that penalties with known
probabilities of occurrence and dynamics can be sensed locally at the states of
the system, we derive a receding horizon strategy that minimizes the expected
average cumulative penalty incurred between two consecutive satisfactions of a
desired property. At the same time, we guarantee the satisfaction of
correctness specifications expressed as Linear Temporal Logic formulas. We
illustrate the approach with a persistent surveillance robotics application.Comment: Technical report accompanying the ACC 2013 pape
