Wolff, Eric M. and Topcu, Ufuk and Murray, Richard M. (2011) Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications. California Institute of Technology , USA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2011.008
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We present a method for designing robust controllers for dynamical systems with linear temporal logic specifications. We abstract the original system by a finite Markov Decision Process (MDP) that has transition probabilities in a specified uncertainty set. A robust control policy for the MDP is generated that maximizes the worst-case probability of satisfying the specification over all transition probabilities in the uncertainty set. To do this, we use a procedure from probabilistic model checking to combine the system model with an automaton representing the specification. This new MDP is then transformed into an equivalent form that satisfies assumptions for stochastic shortest path dynamic programming. A robust version of dynamic programming allows us to solve for a $\epsilon$-suboptimal robust control policy with time complexity $O(\log 1/\epsilon)$ times that for the non-robust case. We then implement this control policy on the original dynamical system.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||The authors would like to thank Scott Livingston for helpful comments. This work was supported by an NSF Graduate Research Fellowship and the Boeing Corporation.|
|Group:||Control and Dynamical Systems Technical Reports|
|Subject Keywords:||Temporal logic; Markov decision processes; robotics; robust control|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||26 Sep 2011|
|Last Modified:||26 Dec 2012 14:31|
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