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 | |
| 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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