NDLI: Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees

Content Provider	IEEE Xplore Digital Library
Author	Lahijanian, M. Wasniewski, J. Andersson, S.B. Belta, C.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Boston University, MA, USA (Lahijanian, M.; Wasniewski, J.; Andersson, S.B.; Belta, C.)
Abstract	We present a computational framework for automatic deployment of a robot from a temporal logic specification over a set of properties of interest satisfied at the regions of a partitioned environment. We assume that, during the motion of the robot in the environment, the current region can be precisely determined, while due to sensor and actuation noise, the outcome of a control action can only be predicted probabilistically. Under these assumptions, the deployment problem translates to generating a control strategy for a Markov Decision Process (MDP) from a temporal logic formula.We propose an algorithm inspired from probabilistic Computation Tree Logic (PCTL) model checking to find a control strategy that maximizes the probability of satisfying the specification. We illustrate our method with simulation and experimental results.
Starting Page	3227
Ending Page	3232
File Size	1293377
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509686
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Probabilistic logic Robot sensing systems Robotics and automation Working environment noise Robot motion Automatic control Automatic logic units Specification languages Partitioning algorithms
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Distributed implementations of global temporal logic motion specifications

Where's Waldo? Sensor-Based Temporal Logic Motion Planning

Temporal Logic Motion Planning and Control With Probabilistic Satisfaction Guarantees

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees

Automatic Deployment of Distributed Teams of Robots From Temporal Logic Motion Specifications

On the need for communication in distributed implementations of LTL motion specifications

Automatic synthesis of robot controllers for tasks with locative prepositions

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees (2010)

Temporal-Logic-Based Reactive Mission and Motion Planning

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees

Similar Documents

Distributed implementations of global temporal logic motion specifications

Where's Waldo? Sensor-Based Temporal Logic Motion Planning

Temporal Logic Motion Planning and Control With Probabilistic Satisfaction Guarantees

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees

Automatic Deployment of Distributed Teams of Robots From Temporal Logic Motion Specifications

On the need for communication in distributed implementations of LTL motion specifications

Automatic synthesis of robot controllers for tasks with locative prepositions

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees (2010)

Temporal-Logic-Based Reactive Mission and Motion Planning

Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees