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 |
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IEEE
2023-01-01
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| Series: | IEEE Open Journal of Control Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10184473/ |
| _version_ | 1797384367464513536 |
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| author | Jesse Jiang Samuel Coogan Ye Zhao |
| author_facet | Jesse Jiang Samuel Coogan Ye Zhao |
| author_sort | Jesse Jiang |
| collection | DOAJ |
| description | 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 model using stacked Gaussian process learning in order to achieve formal guarantees on the behavior of the system. We consider tasks which can be specified using Linear Temporal Logic (LTL). Through a product IMDP construction combining the IMDP-BL of the bipedal robot and a Deterministic Rabin Automaton (DRA) of the specifications, we synthesize control policies which allow the robot to safely traverse the environment, iteratively learning the unknown dynamics until the specifications can be satisfied with satisfactory probability. We demonstrate our methods with simulation case studies. |
| first_indexed | 2024-03-08T21:35:27Z |
| format | Article |
| id | doaj.art-ab2042154bb14c78820ba56a5550b815 |
| institution | Directory Open Access Journal |
| issn | 2694-085X |
| language | English |
| last_indexed | 2024-03-08T21:35:27Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Control Systems |
| spelling | doaj.art-ab2042154bb14c78820ba56a5550b8152023-12-21T00:02:12ZengIEEEIEEE Open Journal of Control Systems2694-085X2023-01-01222123410.1109/OJCSYS.2023.329600010184473Abstraction-Based Planning for Uncertainty-Aware Legged NavigationJesse Jiang0https://orcid.org/0000-0002-2279-5233Samuel Coogan1https://orcid.org/0000-0003-0495-1535Ye Zhao2https://orcid.org/0000-0001-6402-5416School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USASchool of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USASchool of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USAThis 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 model using stacked Gaussian process learning in order to achieve formal guarantees on the behavior of the system. We consider tasks which can be specified using Linear Temporal Logic (LTL). Through a product IMDP construction combining the IMDP-BL of the bipedal robot and a Deterministic Rabin Automaton (DRA) of the specifications, we synthesize control policies which allow the robot to safely traverse the environment, iteratively learning the unknown dynamics until the specifications can be satisfied with satisfactory probability. We demonstrate our methods with simulation case studies.https://ieeexplore.ieee.org/document/10184473/Gaussian process regressionlegged locomotionmarkov processessafe autonomy |
| spellingShingle | Jesse Jiang Samuel Coogan Ye Zhao Abstraction-Based Planning for Uncertainty-Aware Legged Navigation IEEE Open Journal of Control Systems Gaussian process regression legged locomotion markov processes safe autonomy |
| title | Abstraction-Based Planning for Uncertainty-Aware Legged Navigation |
| title_full | Abstraction-Based Planning for Uncertainty-Aware Legged Navigation |
| title_fullStr | Abstraction-Based Planning for Uncertainty-Aware Legged Navigation |
| title_full_unstemmed | Abstraction-Based Planning for Uncertainty-Aware Legged Navigation |
| title_short | Abstraction-Based Planning for Uncertainty-Aware Legged Navigation |
| title_sort | abstraction based planning for uncertainty aware legged navigation |
| topic | Gaussian process regression legged locomotion markov processes safe autonomy |
| url | https://ieeexplore.ieee.org/document/10184473/ |
| work_keys_str_mv | AT jessejiang abstractionbasedplanningforuncertaintyawareleggednavigation AT samuelcoogan abstractionbasedplanningforuncertaintyawareleggednavigation AT yezhao abstractionbasedplanningforuncertaintyawareleggednavigation |