Multi-objective Policy Generation for Mobile Robots under Probabilistic Time-Bounded Guarantees
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Authors
Colleges, School and Institutes
Abstract
We present a methodology for the generation of mobile robot controllers which offer probabilistic time-bounded guarantees on successful task completion, whilst also trying to satisfy soft goals. The approach is based on a stochastic model of the robot’s environment and action execution times, a set of soft
goals, and a formal task specification in co-safe linear temporal logic, which are analysed using multi-objective model checking techniques for Markov decision processes. For efficiency, we propose a novel two-step approach. First, we explore policies on the Pareto front for minimising expected task execution
time whilst optimising the achievement of soft goals. Then, we use this to prune a model with more detailed timing information, yielding a time-dependent policy for which more fine-grained probabilistic guarantees can be provided. We illustrate and evaluate the generation of policies on a delivery task in a care home scenario, where the robot also tries to engage in entertainment activities with the patients.
goals, and a formal task specification in co-safe linear temporal logic, which are analysed using multi-objective model checking techniques for Markov decision processes. For efficiency, we propose a novel two-step approach. First, we explore policies on the Pareto front for minimising expected task execution
time whilst optimising the achievement of soft goals. Then, we use this to prune a model with more detailed timing information, yielding a time-dependent policy for which more fine-grained probabilistic guarantees can be provided. We illustrate and evaluate the generation of policies on a delivery task in a care home scenario, where the robot also tries to engage in entertainment activities with the patients.
Details
Original language | English |
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Title of host publication | Proceedings of the twenty seventh International Conference on Automated Planning and Scheduling (ICAPS 2017) |
Publication status | Accepted/In press - 26 Jan 2017 |
Event | 27th International Conference on Automated Planning and Scheduling (ICAPS 2017) - Pittsburgh, United States Duration: 18 Jun 2017 → 23 Jun 2017 |
Conference
Conference | 27th International Conference on Automated Planning and Scheduling (ICAPS 2017) |
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Country | United States |
City | Pittsburgh |
Period | 18/06/17 → 23/06/17 |