Temporal Logic Motion Planning using POMDPs with Parity Objectives
| Authors | |
|---|---|
| Year of publication | 2015 |
| Type | Article in Proceedings |
| Conference | Proceedings of ACM international conference on Hybrid Systems: Computation and Control |
| MU Faculty or unit | |
| Citation | SVOREŇOVÁ, Mária, Martin CHMELÍK, Kevin LEAHY, Hasan Ferit ENISER, Krishnendu CHATTERJEE, Ivana ČERNÁ and Calin BELTA. Temporal Logic Motion Planning using POMDPs with Parity Objectives. Online. In Proceedings of ACM international conference on Hybrid Systems: Computation and Control. Seattle, Washington, USA: Association for Computing Machinery (ACM), 2015, p. 233-238. ISBN 978-1-4503-3433-4. Available from: https://dx.doi.org/10.1145/2728606.2728617. |
| 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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