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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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 languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers
Pages6282-6287
Number of pages6
ISBN (Electronic)9781728113982
DOIs
Publication statusPublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period11/12/1913/12/19

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