Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents
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Frazzoli_Incremental temporal.pdf
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524.29 KB
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Author(s)
Wongpiromsarn, Tichakorn
Ulusoy, Alphan
Belta, Calin
Frazzoli, Emilio
Rus, Daniela L.
Date Issued
October 2012
Journal
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wongpiromsarn, Tichakorn, Alphan Ulusoy, Calin Belta, Emilio Frazzoli, and Daniela Rus. “Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents.” In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 229-236. Institute of Electrical and Electronics Engineers, 2012.
Version
Original manuscript
Abstract
We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite transition system (in the deterministic case) or Markov decision process (in the stochastic case). Existing results in probabilistic verification are adapted to solve the synthesis problem. To partially address the state explosion issue, we propose an incremental approach where only a small subset of environment agents is incorporated in the synthesis procedure initially and more agents are successively added until we hit the constraints on computational resources. Our algorithm runs in an anytime fashion where the probability that the robot satisfies its specification increases as the algorithm progresses.
Description
Original manuscript March 6, 2012
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/IROS.2012.6385575
