# TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning

### Tichakorn Wongpiromsarn, Ufuk Topcu, Necmiye Ozay, Huan Xu, Richard M Murray

International Conference on Hybrid Systems: Computation and Control (HSCC)

This paper describes TuLiP, a Python-based software tool- box for the synthesis of embedded control software that is provably correct with respect to an expressive subset of lin- ear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from LTL specifications, and (3) receding horizon planning. The underlying digital de- sign synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the re- ceding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.

- Preprint: http://www.cds.caltech.edu/~murray/preprints/wtoxm11-hscc.pdf
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