Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces

S. Haesaert; R. Thakker; P. Nilsson; A. Agha-Mohammadi; R.M. Murray

doi:10.1109/CDC40024.2019.9029240

Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces

S. Haesaert, R. Thakker, P. Nilsson, A. Agha-Mohammadi, R.M. Murray

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

Abstract

Navigation problems expressed via temporal logics show promise for autonomous robot applications due to their versatility. In this paper, we introduce a method for planning with these specifications in uncertain environments that yields guaranteed satisfaction probabilities. We show that point-based value iteration can be combined with probabilistic roadmaps to solve this planning problem over the belief space of the uncertain environment.

Original language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers
Pages	6282-6287
Number of pages	6
ISBN (Electronic)	978-1-7281-1398-2
DOIs	https://doi.org/10.1109/CDC40024.2019.9029240
Publication status	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France, Nice, France Duration: 11 Dec 2019 → 13 Dec 2019 Conference number: 58 https://cdc2019.ieeecss.org/

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Abbreviated title	CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19
Internet address	https://cdc2019.ieeecss.org/

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10.1109/CDC40024.2019.9029240

Cite this

Haesaert, S., Thakker, R., Nilsson, P., Agha-Mohammadi, A., & Murray, R. M. (2019). Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 6282-6287). Article 9029240 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC40024.2019.9029240

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abstract = "Navigation problems expressed via temporal logics show promise for autonomous robot applications due to their versatility. In this paper, we introduce a method for planning with these specifications in uncertain environments that yields guaranteed satisfaction probabilities. We show that point-based value iteration can be combined with probabilistic roadmaps to solve this planning problem over the belief space of the uncertain environment.",

author = "S. Haesaert and R. Thakker and P. Nilsson and A. Agha-Mohammadi and R.M. Murray",

year = "2019",

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doi = "10.1109/CDC40024.2019.9029240",

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note = "58th IEEE Conference on Decision and Control, CDC 2019, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

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Haesaert, S, Thakker, R, Nilsson, P, Agha-Mohammadi, A & Murray, RM 2019, Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029240, Institute of Electrical and Electronics Engineers, pp. 6282-6287, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029240

Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces. / Haesaert, S.; Thakker, R.; Nilsson, P. et al.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers, 2019. p. 6282-6287 9029240.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces

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