J 2013

Temporal Logic Robot Control based on Automata Learning of Environmental Dynamics

CHEN, Yushan, Jana TŮMOVÁ, Alphan ULUSOY and Calin BELTA

Basic information

Original name

Temporal Logic Robot Control based on Automata Learning of Environmental Dynamics

Authors

CHEN, Yushan (156 China), Jana TŮMOVÁ (203 Czech Republic, guarantor, belonging to the institution), Alphan ULUSOY (792 Turkey) and Calin BELTA (840 United States of America)

Edition

International Journal of Robotics Research, 2013, 0278-3649

Other information

Language

English

Type of outcome

Článek v odborném periodiku

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

United States of America

Confidentiality degree

není předmětem státního či obchodního tajemství

Impact factor

Impact factor: 2.523

RIV identification code

RIV/00216224:14330/13:00065967

Organization unit

Faculty of Informatics

DOI

UT WoS

000325691500003

Keywords in English

learning and adaptive systems; cognitive robotics; autonomous agents; AI reasoning methods

Tags

International impact, Reviewed
Změněno: 16/12/2013 14:25, RNDr. Jana Tůmová, Ph.D.

Abstract

V originále

We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with unknown, randomly changing behavior. The robot is required to achieve a surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time inbetween consecutive services is minimized and additional temporal logic constraints are satisfied. We define a fragment of linear temporal logic to describe such a mission and formulate the problem as a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the unknown behavior of the elements in the environment. Second, we employ an automata-theoretic method to generate the control policy. We show that the obtained control policy converges to an optimal one when the partially unknown behavior patterns are fully learned. In addition, we illustrate the method in an experimental setup, in which an unmanned ground vehicle, with the help of a cooperating unmanned aerial vehicle (UAV), satisfies a temporal logic requirement in a partitioned environment whose regions are controlled by barriers with unknown behavior.

Links

GD102/09/H042, research and development project
Name: Matematické a inženýrské metody pro vývoj spolehlivých a bezpečných paralelních a distribuovaných počítačových systémů
Investor: Czech Science Foundation
LH11065, research and development project
Name: Řízení a ověřování vlastností komplexních hybridních systémů (Acronym: Řízení a ověřování vlastností komplexních hybridní)
Investor: Ministry of Education, Youth and Sports of the CR
MUNI/A/0758/2011, interní kód MU
Name: Zapojení studentů Fakulty informatiky do mezinárodní vědecké komunity (Acronym: SKOMU)
Investor: Masaryk University, Category A
MUNI/A/0760/2012, interní kód MU
Name: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace II. (Acronym: FI MAV II.)
Investor: Masaryk University, Category A
MUNI/A/0914/2009, interní kód MU
Name: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace (Acronym: SV-FI MAV)
Investor: Masaryk University, Category A