Name
Title | ||
|---|---|---|
Optimal and dynamic planning for Markov decision processes with co-safe LTL specifications |
Abstract | ||
|---|---|---|
We present a method to specify tasks and synthesise cost-optimal policies for Markov decision processes using co-safe linear temporal logic. Our approach incorporates a dynamic task handling procedure which allows for the addition of new tasks during execution and provides the ability to re-plan an optimal policy on-the-fly. This new policy minimises the cost to satisfy the conjunction of the current tasks and the new one, taking into account how much of the current tasks has already been executed. We illustrate our approach by applying it to motion planning for a mobile service robot. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6942756 | Intelligent Robots and Systems |
Keywords | Field | DocType |
Markov processes,decision making,mobile robots,path planning,service robots,temporal logic,Markov decision processes,cosafe LTL specifications,cosafe linear temporal logic,cost-optimal policies,dynamic planning,dynamic task handling procedure,mobile service robot,motion planning,optimal planning | Computer science,Partially observable Markov decision process,Operations research,Markov decision process,Real-time computing,Control engineering,Dynamic planning,Automated planning and scheduling | Conference |
ISSN | Citations | PageRank |
2153-0858 | 17 | 0.77 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bruno Lacerda | 1 | 85 | 12.96 |
| David Parker | 2 | 4018 | 184.00 |
| Nick Hawes | 3 | 321 | 34.18 |