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dc.contributor.authorCizelj, Igoren_US
dc.contributor.authorBelta, Calinen_US
dc.contributor.editorAmato, N.en_US
dc.coverage.spatialTokyo, JAPANen_US
dc.date.accessioned2018-07-17T20:07:37Z
dc.date.available2018-07-17T20:07:37Z
dc.date.issued2013-01-01
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000331367404057&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e74115fe3da270499c3d65c9b17d654
dc.identifier.citationIgor Cizelj, Calin Belta. 2013. "Negotiating the Probabilistic Satisfaction of Temporal Logic Motion Specifications." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4320 - 4325 (6).
dc.identifier.issn2153-0858
dc.identifier.urihttps://hdl.handle.net/2144/29964
dc.description.abstractWe propose a human-supervised control synthesis method for a stochastic Dubins vehicle such that the probability of satisfying a specification given as a formula in a fragment of Probabilistic Computational Tree Logic (PCTL) over a set of environmental properties is maximized. Under some mild assumptions, we construct a finite approximation for the motion of the vehicle in the form of a tree-structured Markov Decision Process (MDP). We introduce an efficient algorithm, which exploits the tree structure of the MDP, for synthesizing a control policy that maximizes the probability of satisfaction. For the proposed PCTL fragment, we define the specification update rules that guarantee the increase (or decrease) of the satisfaction probability. We introduce an incremental algorithm for synthesizing an updated MDP control policy that reuses the initial solution. The initial specification can be updated, using the rules, until the supervisor is satisfied with both the updated specification and the corresponding satisfaction probability. We propose an offline and an online application of this method.en_US
dc.format.extentp. 4320 - 4325en_US
dc.languageEnglish
dc.publisherIEEEen_US
dc.relation.ispartof2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
dc.subjectScience & technologyen_US
dc.subjectTechnologyen_US
dc.subjectComputer science, artificial intelligenceen_US
dc.subjectComputer science, cyberneticsen_US
dc.subjectRoboticsen_US
dc.subjectComputer scienceen_US
dc.titleNegotiating the probabilistic satisfaction of temporal logic motion specificationsen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/IROS.2013.6696976
pubs.elements-sourceweb-of-scienceen_US
pubs.notesEmbargo: Not knownen_US
pubs.organisational-groupBoston Universityen_US
pubs.organisational-groupBoston University, College of Engineeringen_US
pubs.organisational-groupBoston University, College of Engineering, Department of Mechanical Engineeringen_US
pubs.publication-statusPublisheden_US


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