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@inproceedings{1206053,
author = {Svoreňová, Mária and Chmelík, Martin and Leahy, Kevin and Eniser, Hasan Ferit and Chatterjee, Krishnendu and Černá, Ivana and Belta, Calin},
address = {Seattle, Washington, USA},
booktitle = {Proceedings of ACM international conference on Hybrid Systems: Computation and Control},
doi = {http://dx.doi.org/10.1145/2728606.2728617},
keywords = {control; linear temporal logic (LTL); partially observable},
howpublished = {elektronická verze "online"},
language = {eng},
location = {Seattle, Washington, USA},
isbn = {978-1-4503-3433-4},
pages = {233-238},
publisher = {Association for Computing Machinery (ACM)},
title = {Temporal Logic Motion Planning using POMDPs with Parity Objectives},
year = {2015}
}
TY - JOUR
ID - 1206053
AU - Svoreňová, Mária - Chmelík, Martin - Leahy, Kevin - Eniser, Hasan Ferit - Chatterjee, Krishnendu - Černá, Ivana - Belta, Calin
PY - 2015
TI - Temporal Logic Motion Planning using POMDPs with Parity Objectives
PB - Association for Computing Machinery (ACM)
CY - Seattle, Washington, USA
SN - 9781450334334
KW - control
KW - linear temporal logic (LTL)
KW - partially observable
N2 - 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.
ER -
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 \textit{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.
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