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
• Rok publikování: 2015
• Druh: Článek ve sborníku
• Konference: Proceedings of ACM international conference on Hybrid Systems: Computation and Control
• Fakulta / Pracoviště MU: Fakulta informatiky
• Doi: http://dx.doi.org/10.1145/2728606.2728617
• 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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