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Multi-objective policy generation for mobile robots under probabilistic time-bounded guarantees

Abstract:

We present a methodology for the generation of mobile robot controllers which offer probabilistic time-bounded guarantees on successful task completion, whilst also trying to satisfy soft goals. The approach is based on a stochastic model of the robot’s environment and action execution times, a set of soft goals, and a formal task specification in co-safe linear temporal logic, which are analysed using multi-objective model checking techniques for Markov decision processes. For efficiency, we...

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Publication status:
Published
Peer review status:
Peer reviewed

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Pembroke College
Role:
Author
ORCID:
0000-0002-7556-6098
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Grant:
Seventh Framework Programme (FP7/2007-2013) under grant agreement No 600623, STRANDS
Publisher:
AAAI Press Publisher's website
Journal:
Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling (ICAPS 2017) Journal website
Pages:
504-512
Host title:
Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling (ICAPS 2017)
Publication date:
2017-06-06
Acceptance date:
2017-01-29
Source identifiers:
821109
Pubs id:
pubs:821109
UUID:
uuid:40683525-e63e-46d9-a5bf-0b4d1a55d152
Local pid:
pubs:821109
Deposit date:
2018-01-24

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