NDLI: LTL robot motion control based on automata learning of environmental dynamics

Content Provider	IEEE Xplore Digital Library
Author	Yushan Chen Tumova, J. Belta, C.
Copyright Year	2012
Description	Author affiliation: Boston University, USA (Yushan Chen; Belta, C.) \|\| Boston university, USA (Tumova, J.)
Abstract	We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with partially unknown, changing behavior. The robot is required to achieve an optimal surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time in between consecutive services is minimized. We define a fragment of Linear Temporal Logic (LTL) to describe such a mission and formulate the problem as a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the partially unknown behavior of the elements in the environment. Second, we employ an automata-theoretic method to generate the control policy.We show that the obtained control policy converges to an optimal one when the unknown behavior patterns are fully learned. We implemented the proposed computational framework in MATLAB. Illustrative case studies are included.
Starting Page	5177
Ending Page	5182
File Size	622423
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225075
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Games Markov processes Adaptation models History Approximation methods
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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