Optimal and dynamic planning for Markov decision processes with co-safe LTL specifications

Bruno Lacerda, David Parker, Nick Hawes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1511-1516
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 31 Oct 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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