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Temporal Logic Motion Planning using POMDPs with Parity Objectives

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SVOREŇOVÁ Mária CHMELÍK Martin LEAHY Kevin ENISER Hasan Ferit CHATTERJEE Krishnendu ČERNÁ Ivana BELTA Calin

Druh Článek ve sborníku
Konference Proceedings of ACM international conference on Hybrid Systems: Computation and Control
Fakulta / Pracoviště MU

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Obor Informatika
Klíčová slova control; linear temporal logic (LTL); partially observable
Popis 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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