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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Runtime verification in uncertain environment based on probabilistic model learning by Ge Zhou, Chunzheng Yang, Peng Lu, Xi Chen

“…To construct incremental monitor, the monitored LTL property is translated into Deterministic Rabin Automaton (DRA). The final probabilistic monitor is obtained by generating the product of DTMC and DRA, and computing the probabilities for each state. …”
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