Boston University Libraries OpenBU
    JavaScript is disabled for your browser. Some features of this site may not work without it.
    View Item 
    •   OpenBU
    • BU Open Access Articles
    • BU Open Access Articles
    • View Item
    •   OpenBU
    • BU Open Access Articles
    • BU Open Access Articles
    • View Item

    Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents

    Thumbnail
    Date Issued
    2012-01-01
    Publisher Version
    10.1109/IROS.2012.6385575
    Author(s)
    Wongpiromsarn, Tichakorn
    Ulusoy, Alphan
    Belta, Calin
    Frazzoli, Emilio
    Rus, Daniela
    Share to FacebookShare to TwitterShare by Email
    Export Citation
    Download to BibTex
    Download to EndNote/RefMan (RIS)
    Metadata
    Show full item record
    Permanent Link
    https://hdl.handle.net/2144/29849
    Citation (published version)
    Tichakorn Wongpiromsarn, Alphan Ulusoy, Calin Belta, Emilio Frazzoli, Daniela Rus. 2012. "Incremental Temporal Logic Synthesis of Control Policies for Robots Interacting with Dynamic Agents." 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 229 - 236 (8).
    Abstract
    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.
    Collections
    • BU Open Access Articles [3664]
    • ENG: Mechanical Engineering: Scholarly Papers [245]


    Boston University
    Contact Us | Send Feedback | Help
     

     

    Browse

    All of OpenBUCommunities & CollectionsIssue DateAuthorsTitlesSubjectsThis CollectionIssue DateAuthorsTitlesSubjects

    Deposit Materials

    LoginNon-BU Registration

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    Boston University
    Contact Us | Send Feedback | Help