Model-based Reactive Control System < S, ???????
S is a transition system < ??????????with initial state ??
? is a model-based reactive executive with
- input goal configurations: ? : g0, g1 ?
- input observables: ? : o0, o1 ?
- output control actions ? : ?0 ,?1 ?
S?evolves along trajectory s : s0, s1 ? s.t:
?i ??????and agrees with oi , ?i and si
si+1 = ?(?i)
- results from a failure transition, or
- satisfies gi or
- <si, si+1> is the prefix of a simple (loop free) nominal trajectory that ends in a state satisfying gi.