Abstraction-Based Planning for Uncertainty-Aware Legged Navigation by Jesse Jiang, Samuel Coogan, Ye Zhao

“…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. …”
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