Temporal Logic Robot Control based on Automata Learning of Environmental Dynamics

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F13%3A00065967" target="_blank" >RIV/00216224:14330/13:00065967 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1177/0278364912473168" target="_blank" >http://dx.doi.org/10.1177/0278364912473168</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1177/0278364912473168" target="_blank" >10.1177/0278364912473168</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Temporal Logic Robot Control based on Automata Learning of Environmental Dynamics

Popis výsledku v původním jazyce

We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with unknown, randomly changing behavior. The robot is required to achieve a surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time inbetween consecutive services is minimized and additional temporal logic constraints are satisfied. We define a fragment of linear temporal logic to describe such a mission and formulate the problemas a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the 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 partially unknown behavior patterns are fully learned.

Název v anglickém jazyce

Temporal Logic Robot Control based on Automata Learning of Environmental Dynamics

Popis výsledku anglicky

We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with unknown, randomly changing behavior. The robot is required to achieve a surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time inbetween consecutive services is minimized and additional temporal logic constraints are satisfied. We define a fragment of linear temporal logic to describe such a mission and formulate the problemas a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the 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 partially unknown behavior patterns are fully learned.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

International Journal of Robotics Research

ISSN

0278-3649

e-ISSN

—

Svazek periodika

32

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

19

Strana od-do

547-565

Kód UT WoS článku

000325691500003

EID výsledku v databázi Scopus

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