Temporal Logic Motion Planning using POMDPs with Parity
Objectives

D 2015

Temporal Logic Motion Planning using POMDPs with Parity Objectives

SVOREŇOVÁ, Mária, Martin CHMELÍK, Kevin LEAHY, Hasan Ferit ENISER, Krishnendu CHATTERJEE et. al.

Basic information

Original name

Temporal Logic Motion Planning using POMDPs with Parity Objectives

Authors

SVOREŇOVÁ, Mária (703 Slovakia, belonging to the institution), Martin CHMELÍK (203 Czech Republic), Kevin LEAHY (840 United States of America), Hasan Ferit ENISER (40 Austria), Krishnendu CHATTERJEE (40 Austria), Ivana ČERNÁ (203 Czech Republic, belonging to the institution) and Calin BELTA (840 United States of America)

Edition

Seattle, Washington, USA, Proceedings of ACM international conference on Hybrid Systems: Computation and Control, p. 233-238, 6 pp. 2015

Publisher

Association for Computing Machinery (ACM)

Other information

Language

English

Type of outcome

Stať ve sborníku

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

United States of America

Confidentiality degree

není předmětem státního či obchodního tajemství

Publication form

electronic version available online

RIV identification code

RIV/00216224:14330/15:00080611

Organization unit

Faculty of Informatics

ISBN

978-1-4503-3433-4

DOI

http://dx.doi.org/10.1145/2728606.2728617

Keywords in English

control; linear temporal logic (LTL); partially observable

Abstract

V originále

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.

Links

GAP202/11/0312, research and development project

Name: Vývoj a verifikace softwarových komponent v zapouzdřených systémech (Acronym: Components in Embedded Systems)

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/1159/2014, interní kód MU

Name: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace IV.

Investor: Masaryk University, Category A

MUNI/A/1206/2014, interní kód MU

Name: Zapojení studentů Fakulty informatiky do mezinárodní vědecké komunity (Acronym: SKOMU)

Investor: Masaryk University, Category A

Citovat

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.

@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.

Detailed Information on Publication Record