Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes
Uncertain, time-varying dynamic environments are ubiquitous in real world robotics. We propose an online planning framework to address time-bounded missions under time-varying dynamics, where those dynamics affect the duration and outcome of actions. We pose such problems as semi-Markov decision pro...
| Główni autorzy: | , , |
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| Format: | Conference item |
| Język: | English |
| Wydane: |
Journal of Machine Learning Research
2021
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| _version_ | 1826257016725700608 |
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| author | Duckworth, P Lacerda, B Hawes, N |
| author_facet | Duckworth, P Lacerda, B Hawes, N |
| author_sort | Duckworth, P |
| collection | OXFORD |
| description | Uncertain, time-varying dynamic environments are ubiquitous in real world robotics. We propose an online planning framework to address time-bounded missions under time-varying dynamics, where those dynamics affect the duration and outcome of actions. We pose such problems as semi-Markov decision processes, where actions have a duration distributed according to an a priori unknown time-varying function. Our approach maintains a belief over this function, and time is propagated through a discrete search tree that efficiently maintains a subset of reachable states. We show improved mission performance on a marine vehicle simulator acting under real-world spatio-temporal ocean currents, and demonstrate the ability to solve co-safe linear temporal logic problems, which are more complex than the reachability problems tackled in previous approaches. |
| first_indexed | 2024-03-06T18:11:26Z |
| format | Conference item |
| id | oxford-uuid:032d7da0-b4a1-4ea8-9ab0-6728d83e2688 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T18:11:26Z |
| publishDate | 2021 |
| publisher | Journal of Machine Learning Research |
| record_format | dspace |
| spelling | oxford-uuid:032d7da0-b4a1-4ea8-9ab0-6728d83e26882022-03-26T08:44:33ZTime-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processesConference itemhttp://purl.org/coar/resource_type/c_5794uuid:032d7da0-b4a1-4ea8-9ab0-6728d83e2688EnglishSymplectic ElementsJournal of Machine Learning Research2021Duckworth, PLacerda, BHawes, NUncertain, time-varying dynamic environments are ubiquitous in real world robotics. We propose an online planning framework to address time-bounded missions under time-varying dynamics, where those dynamics affect the duration and outcome of actions. We pose such problems as semi-Markov decision processes, where actions have a duration distributed according to an a priori unknown time-varying function. Our approach maintains a belief over this function, and time is propagated through a discrete search tree that efficiently maintains a subset of reachable states. We show improved mission performance on a marine vehicle simulator acting under real-world spatio-temporal ocean currents, and demonstrate the ability to solve co-safe linear temporal logic problems, which are more complex than the reachability problems tackled in previous approaches. |
| spellingShingle | Duckworth, P Lacerda, B Hawes, N Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title | Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title_full | Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title_fullStr | Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title_full_unstemmed | Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title_short | Time-bounded mission planning in time-varying domains with semi-MDPS and Gaussian processes |
| title_sort | time bounded mission planning in time varying domains with semi mdps and gaussian processes |
| work_keys_str_mv | AT duckworthp timeboundedmissionplanningintimevaryingdomainswithsemimdpsandgaussianprocesses AT lacerdab timeboundedmissionplanningintimevaryingdomainswithsemimdpsandgaussianprocesses AT hawesn timeboundedmissionplanningintimevaryingdomainswithsemimdpsandgaussianprocesses |