Probabilistic Motion Planning Under Temporal Tasks and Soft Constraints
نویسندگان
چکیده
منابع مشابه
Probabilistic Motion Planning under Temporal Tasks and Soft Constraints
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a finite-memory control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied with a desired high probability. Uncertainty is considered in the workspace properties, robot actions, and task outcomes, giving rise to a Markov Decision Process...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2018
ISSN: 0018-9286,1558-2523,2334-3303
DOI: 10.1109/tac.2018.2799561