About: LTL Robot Motion Control based on Automata Learning of Environmental Dynamics

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with partially unknown, changing behavior. The robot is required to achieve an optimal surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time in between consecutive services is minimized. We define a fragment of Linear Temporal Logic (LTL) to describe such a mission and formulate the problem as a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the partially unknown behavior of the elements in the environment. Second, we employ an automata-theoretic method to generate the control policy. We show that the obtained control policy converges to an optimal one when the unknown behavior patterns are fully learned. We implemented the proposed computational framework in MATLAB. Illustrative case studies are included. We develop a technique to automatically generate a control policy for a robot moving in an environment that includes elements with partially unknown, changing behavior. The robot is required to achieve an optimal surveillance mission, in which a certain request needs to be serviced repeatedly, while the expected time in between consecutive services is minimized. We define a fragment of Linear Temporal Logic (LTL) to describe such a mission and formulate the problem as a temporal logic game. Our approach is based on two main ideas. First, we extend results in automata learning to detect patterns of the partially unknown behavior of the elements in the environment. Second, we employ an automata-theoretic method to generate the control policy. We show that the obtained control policy converges to an optimal one when the unknown behavior patterns are fully learned. We implemented the proposed computational framework in MATLAB. Illustrative case studies are included. (en)
Title	LTL Robot Motion Control based on Automata Learning of Environmental Dynamics LTL Robot Motion Control based on Automata Learning of Environmental Dynamics (en)
skos:prefLabel	LTL Robot Motion Control based on Automata Learning of Environmental Dynamics LTL Robot Motion Control based on Automata Learning of Environmental Dynamics (en)
skos:notation	RIV/00216224:14330/12:00057680!RIV13-GA0-14330___
http://linked.open...avai/predkladatel	Fakulta informatiky
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GD102/09/H042), P(LH11065)
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Tůmová, Jana
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Masarykova univerzita / Fakulta informatiky
http://linked.open...dnocenehoVysledku	147548
http://linked.open...ai/riv/idVysledku	RIV/00216224:14330/12:00057680
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	formal methods; robotics; linear temporal logic; Markov chain learning; control strategy synthesis; path planning (en)
http://linked.open.../riv/klicoveSlovo	formal methods path planning robotics control strategy synthesis linear temporal logic Markov chain learning
http://linked.open...ontrolniKodProRIV	[AB165633ED4A]
http://linked.open...v/mistoKonaniAkce	St Paul, MN
http://linked.open...i/riv/mistoVydani	NEW YORK
http://linked.open...i/riv/nazevZdroje	2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Control Synthesis and Formal Verification of Complex Hybrid Systems Mathematical and Engineering Approaches to Developing Reliable and Secure Concurrent and Distributed Computer Systems
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Belta, Calin Tůmová, Jana Chen, Yushan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000309406705032
http://linked.open.../riv/zahajeniAkce	2012-05-14 (xsd:date)
issn	1050-4729
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ICRA.2012.6225075
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	9781467314053
http://localhost/t...ganizacniJednotka	14330
is http://linked.open...avai/riv/vysledek of	LTL Robot Motion Control based on Automata Learning of Environmental Dynamics

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