Temporal Logic Motion Planning using POMDPs with Parity Objectives

Autoři SVOREŇOVÁ Mária — CHMELÍK Martin — LEAHY Kevin — ENISER Hasan Ferit — CHATTERJEE Krishnendu — ČERNÁ Ivana — BELTA Calin
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Citace SVOREŇOVÁ, Mária, Martin CHMELÍK, Kevin LEAHY, Hasan Ferit ENISER, Krishnendu CHATTERJEE, Ivana ČERNÁ a Calin BELTA. Temporal Logic Motion Planning using POMDPs with Parity Objectives. In Proceedings of ACM international conference on Hybrid Systems: Computation and Control. Seattle, Washington, USA: Association for Computing Machinery (ACM), 2015. s. 233-238, 6 s. ISBN 978-1-4503-3433-4.
Originální jazyk angličtina
Obor Informatika
Klíčová slova control; linear temporal logic (LTL); partially observable

We consider a case study of the problem of deploying an autonomous air vehicle in a partially observable, dynamic, indoor environment from a specification given as a linear temporal logic (LTL) formula over regions of interest. We model the motion and sensing capabilities of the vehicle as a partially observable Markov decision process (POMDP). We adapt recent results for solving POMDPs with parity objectives to generate a control policy. We also extend the existing framework with a policy minimization technique to obtain a better implementable policy, while preserving its correctness. The proposed techniques are illustrated in an experimental setup involving an autonomous quadrotor performing surveillance in a dynamic environment.

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