Temporal Logic Motion Planning using POMDPs with Parity Objectives

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Publikace nespadá pod Ekonomicko-správní fakultu, ale pod Fakultu informatiky. Oficiální stránka publikace je na webu muni.cz.
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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

Citace
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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