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dc.contributor.authorCizelj, Igoren_US
dc.contributor.authorBelta, Calinen_US
dc.coverage.spatialKarlsruhe, GERMANYen_US
dc.date.accessioned2018-07-18T12:14:53Z
dc.date.available2018-07-18T12:14:53Z
dc.date.issued2013-01-01
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000337617302005&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e74115fe3da270499c3d65c9b17d654
dc.identifier.citationIgor Cizelj, Calin Belta. 2013. "Control of Noisy Differential-Drive Vehicles from Time-Bounded Temporal Logic Specifications." 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 2021 - 2026 (6).
dc.identifier.issn1050-4729
dc.identifier.urihttps://hdl.handle.net/2144/29967
dc.description.abstractWe address the problem of controlling a noisy differential drive mobile robot such that the probability of satisfying a specification given as a Bounded Linear Temporal Logic (BLTL) formula over a set of properties at the regions in the environment is maximized. We assume that the vehicle can precisely determine its initial position in a known map of the environment. However, inspired by practical limitations, we assume that the vehicle is equipped with noisy actuators and, during its motion in the environment, it can only measure the angular velocity of its wheels using limited accuracy incremental encoders. Assuming the duration of the motion is finite, we map the measurements to a Markov Decision Process (MDP). We use recent results in Statistical Model Checking (SMC) to obtain an MDP control policy that maximizes the probability of satisfaction. We translate this policy to a vehicle feedback control strategy and show that the probability that the vehicle satisfies the specification in the environment is bounded from below by the probability of satisfying the specification on the MDP. We illustrate our method with simulations and experimental results.en_US
dc.format.extentp. 2021 - 2026en_US
dc.languageEnglish
dc.publisherIEEEen_US
dc.relation.ispartof2013 IEEE International Conference on Robotics and Automation (ICRA)
dc.subjectScience & technologyen_US
dc.subjectTechnologyen_US
dc.subjectAutomation & control systemsen_US
dc.subjectEngineering, electrical & electronicen_US
dc.subjectRoboticsen_US
dc.subjectEngineeringen_US
dc.titleControl of noisy differential-drive vehicles from time-bounded temporal logic specificationsen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/ICRA.2013.6630847
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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