作者
Morteza Lahijanian, Sean B Andersson, Calin Belta
发表日期
2011/11/21
期刊
IEEE Transactions on Robotics
卷号
28
期号
2
页码范围
396-409
出版商
IEEE
简介
We describe a computational framework for automatic deployment of a robot with sensor and actuator noise from a temporal logic specification over a set of properties that are satisfied by the regions of a partitioned environment. We model the motion of the robot in the environment as a Markov decision process (MDP) and translate the motion specification to a formula of probabilistic computation tree logic (PCTL). As a result, the robot control problem is mapped to that of generating an MDP control policy from a PCTL formula. We present algorithms for the synthesis of such policies for different classes of PCTL formulas. We illustrate our method with simulation and experimental results.
学术搜索中的文章
M Lahijanian, SB Andersson, C Belta - IEEE Transactions on Robotics, 2011