LTL Robot Motion Control based on Automata Learning of Environmental Dynamics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F12%3A00057680" target="_blank" >RIV/00216224:14330/12:00057680 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2012.6225075" target="_blank" >http://dx.doi.org/10.1109/ICRA.2012.6225075</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2012.6225075" target="_blank" >10.1109/ICRA.2012.6225075</a>
Alternative languages
Result language
angličtina
Original language name
LTL Robot Motion Control based on Automata Learning of Environmental Dynamics
Original language description
We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with partially unknown, changing behavior. The robot is required to achieve an optimal surveillance mission, in which a certainrequest needs to be serviced repeatedly, while the expected time in between consecutive services is minimized. We define a fragment of Linear Temporal Logic (LTL) to describe such a mission and formulate the problem as a temporal logic game. Our approachis based on two main ideas. First, we extend results in automata learning to detect patterns of the partially unknown behavior of the elements in the environment. Second, we employ an automata-theoretic method to generate the control policy. We show that the obtained control policy converges to an optimal one when the unknown behavior patterns are fully learned. We implemented the proposed computational framework in MATLAB. Illustrative case studies are included.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
ISBN
9781467314053
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
5177-5182
Publisher name
IEEE
Place of publication
NEW YORK
Event location
St Paul, MN
Event date
May 14, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000309406705032