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Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces | IEEE Conference Publication | IEEE Xplore

Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces


Abstract:

Navigation problems expressed via temporal logics show promise for autonomous robot applications due to their versatility. In this paper, we introduce a method for planni...Show More

Abstract:

Navigation problems expressed via temporal logics show promise for autonomous robot applications due to their versatility. In this paper, we introduce a method for planning with these specifications in uncertain environments that yields guaranteed satisfaction probabilities. We show that point-based value iteration can be combined with probabilistic roadmaps to solve this planning problem over the belief space of the uncertain environment.
Date of Conference: 11-13 December 2019
Date Added to IEEE Xplore: 12 March 2020
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Conference Location: Nice, France

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