Abstraction-Based Planning for Uncertainty-Aware Legged Navigation
This article addresses the problem of temporal-logic-based planning for bipedal robots in uncertain environments. We first propose an Interval Markov Decision Process abstraction of bipedal locomotion (IMDP-BL). Motion perturbations from multiple sources of uncertainty are incorporated into our mode...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Open Journal of Control Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10184473/ |