Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents
Original manuscript March 6, 2012
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/81481 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 |
| _version_ | 1826215572571947008 |
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| author | Wongpiromsarn, Tichakorn Ulusoy, Alphan Belta, Calin Frazzoli, Emilio Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Wongpiromsarn, Tichakorn Ulusoy, Alphan Belta, Calin Frazzoli, Emilio Rus, Daniela L. |
| author_sort | Wongpiromsarn, Tichakorn |
| collection | MIT |
| description | Original manuscript March 6, 2012 |
| first_indexed | 2024-09-23T16:35:44Z |
| format | Article |
| id | mit-1721.1/81481 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:35:44Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/814812022-09-29T20:12:56Z Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents Wongpiromsarn, Tichakorn Ulusoy, Alphan Belta, Calin Frazzoli, Emilio Rus, Daniela L. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Frazzoli, Emilio Rus, Daniela L. Original manuscript March 6, 2012 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. 2013-10-23T15:43:55Z 2013-10-23T15:43:55Z 2012-10 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-1736-8 978-1-4673-1737-5 978-1-4673-1735-1 http://hdl.handle.net/1721.1/81481 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. https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 en_US http://dx.doi.org/10.1109/IROS.2012.6385575 Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Wongpiromsarn, Tichakorn Ulusoy, Alphan Belta, Calin Frazzoli, Emilio Rus, Daniela L. Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title | Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title_full | Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title_fullStr | Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title_full_unstemmed | Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title_short | Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| title_sort | incremental temporal logic synthesis of control policies for robots interacting with dynamic agents |
| url | http://hdl.handle.net/1721.1/81481 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 |
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