Time-Optimal Navigation in Uncertain Environments with High-Level Specifications
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| Title | Time-Optimal Navigation in Uncertain Environments with High-Level Specifications |
|---|---|
| Authors | Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray and Aaron D. Ames |
| Source | To appear, 2021 Conference on Decision and Control (CDC) |
| Abstract | Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that minimizes the expected time to complete the control task while satisfying syntactically co-safe Linear Temporal Logic (scLTL) specifications. First, we present an exact dynamic programming update to compute the value function. Afterwards, we propose a point-based approximation, which allows us to compute a lower bound of the closed-loop probability of satisfying the specifications. The effectiveness of the proposed approach and comparisons with standard strategies are shown on high-fidelity navigation tasks with partially observable static obstacles. |
| Type | Conference paper |
| URL | https://arxiv.org/pdf/2103.01476 |
| DOI | |
| Tag | RAMA21-cdc |
| ID | 2021c |
| Funding | NSF T&E |
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