Temporal logic motion control using actor-critic methods

@article{Wang2012TemporalLM,
  title={Temporal logic motion control using actor-critic methods},
  author={Jing Wang and Xu Chu Ding and Morteza Lahijanian and Ioannis Ch. Paschalidis and Calin Belta},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={4687-4692}
}
In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy sensors and actuators and model its motion through the regions of the environment as a Markov Decision Process (MDP). The robot control problem becomes finding the control policy maximizing the probability of satisfying the temporal logic task on the MDP. For a… CONTINUE READING
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