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Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations

Haesaert, S. and Nilsson, P. and Vasile, C. I. and Thakker, R. and Agha-mohammadi, A. and Ames, A. D. and Murray, R. M. (2018) Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. IFAC-PapersOnLine, 51 (16). pp. 271-276. ISSN 2405-8963. https://resolver.caltech.edu/CaltechAUTHORS:20180912-130453647

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Abstract

The synthesis of controllers guaranteeing linear temporal logic specifications on partially observable Markov decision processes (POMDP) via their belief models causes computational issues due to the continuous spaces. In this work, we construct a finite-state abstraction on which a control policy is synthesized and refined back to the original belief model. We introduce a new notion of label-based approximate stochastic simulation to quantify the deviation between belief models. We develop a robust synthesis methodology that yields a lower bound on the satisfaction probability, by compensating for deviations a priori, and that utilizes a less conservative control refinement.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1016/j.ifacol.2018.08.046DOIArticle
ORCID:
AuthorORCID
Murray, R. M.0000-0002-5785-7481
Additional Information:© 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. Available online 31 August 2018. This research was carried out at JPL and Caltech under a contract with the NASA and funded through the President’s and Director’s Fund Program.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
JPL President and Director's FundUNSPECIFIED
Subject Keywords:Temporal properties; control synthesis; partially observable; Markov decision processes
Issue or Number:16
Record Number:CaltechAUTHORS:20180912-130453647
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180912-130453647
Official Citation:S. Haesaert, P. Nilsson, C.I. Vasile, R. Thakker, A. Agha-mohammadi, A.D. Ames, R.M. Murray, Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations, IFAC-PapersOnLine, Volume 51, Issue 16, 2018, Pages 271-276, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2018.08.046. (http://www.sciencedirect.com/science/article/pii/S2405896318311625)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:89577
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Sep 2018 20:51
Last Modified:03 Oct 2019 20:17

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