Control Synthesis against LTL Specifications with Long-Run Visit Proportion Objectives

Zhiyuan Huang; Zhao Tong; Jiakai Li; Chenrui Xiang; Bingzhuo Zhong

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arXiv · 2609.24865

Control Synthesis against LTL Specifications with Long-Run Visit Proportion Objectives

Zhiyuan Huang·Zhao Tong·Jiakai Li·Chenrui Xiang·Bingzhuo Zhong

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Abstract

This paper investigates the path-planning problem for systems required to satisfy a linear temporal logic (LTL) specification while achieving a desired long-run visit proportion. For a path represented in prefix-suffix structure, the long-run visit proportion quantifies the asymptotic occurrence proportion of an atomic proposition sequence of interest in the suffix trace. Such a quantitative requirement generally cannot be expressed by standard LTL specifications. Furthermore, we develop a planning approach that synthesizes an LTL-satisfying path whose long-run visit proportion remains within a prescribed tolerance of a desired value while satisfying an overall cost constraint. By adjusting the desired proportion, the synthesized path can allocate more or less long-run attention to the atomic proposition sequence of interest, thereby improving the flexibility and efficiency of the task execution. Finally, experiments on a quadruped robot demonstrate the practical significance of the proposed long-run visit proportion and the effectiveness of the proposed planning approach.

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Zhiyuan Huang, Zhao Tong, Jiakai Li, Chenrui Xiang, Bingzhuo Zhong. 2026-09-21. Control Synthesis against LTL Specifications with Long-Run Visit Proportion Objectives. https://arxiv.org/abs/2609.24865

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