Temporal Logic Motion Planning using POMDPs with Parity Objectives

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Authors

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

Year of publication 2015
Type Article in Proceedings
Conference Proceedings of ACM international conference on Hybrid Systems: Computation and Control
MU Faculty or unit

Faculty of Informatics

Citation
Doi http://dx.doi.org/10.1145/2728606.2728617
Field Informatics
Keywords control; linear temporal logic (LTL); partially observable
Description 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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