{"_id":"1691","abstract":[{"text":"We consider a case study of the problem of deploying an autonomous air vehicle in a partially observable, dynamic, indoor environment from a specification given as a linear temporal logic (LTL) formula over regions of interest. We model the motion and sensing capabilities of the vehicle as a partially observable Markov decision process (POMDP). We adapt recent results for solving POMDPs with parity objectives to generate a control policy. We also extend the existing framework with a policy minimization technique to obtain a better implementable policy, while preserving its correctness. The proposed techniques are illustrated in an experimental setup involving an autonomous quadrotor performing surveillance in a dynamic environment.","lang":"eng"}],"status":"public","publication":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","author":[{"first_name":"Mária","last_name":"Svoreňová","full_name":"Svoreňová, Mária"},{"first_name":"Martin","full_name":"Chmelik, Martin","last_name":"Chmelik","id":"3624234E-F248-11E8-B48F-1D18A9856A87"},{"full_name":"Leahy, Kevin","last_name":"Leahy","first_name":"Kevin"},{"full_name":"Eniser, Hasan","last_name":"Eniser","first_name":"Hasan"},{"first_name":"Krishnendu","last_name":"Chatterjee","full_name":"Chatterjee, Krishnendu","id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87","orcid":"0000-0002-4561-241X"},{"last_name":"Cěrná","full_name":"Cěrná, Ivana","first_name":"Ivana"},{"first_name":"Cǎlin","full_name":"Belta, Cǎlin","last_name":"Belta"}],"publisher":"ACM","user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","department":[{"_id":"KrCh"}],"type":"conference","page":"233 - 238","day":"14","title":"Temporal logic motion planning using POMDPs with parity objectives: Case study paper","year":"2015","language":[{"iso":"eng"}],"conference":{"location":"Seattle, WA, United States","start_date":"2015-04-14","end_date":"2015-04-16","name":"HSCC: Hybrid Systems - Computation and Control"},"date_updated":"2021-01-12T06:52:33Z","date_created":"2018-12-11T11:53:29Z","publication_status":"published","date_published":"2015-04-14T00:00:00Z","project":[{"_id":"2584A770-B435-11E9-9278-68D0E5697425","name":"Modern Graph Algorithmic Techniques in Formal Verification","call_identifier":"FWF","grant_number":"P 23499-N23"},{"_id":"25832EC2-B435-11E9-9278-68D0E5697425","call_identifier":"FWF","name":"Rigorous Systems Engineering","grant_number":"S 11407_N23"},{"call_identifier":"FP7","name":"Quantitative Graph Games: Theory and Applications","_id":"2581B60A-B435-11E9-9278-68D0E5697425","grant_number":"279307"}],"doi":"10.1145/2728606.2728617","ec_funded":1,"citation":{"apa":"Svoreňová, M., Chmelik, M., Leahy, K., Eniser, H., Chatterjee, K., Cěrná, I., &#38; Belta, C. (2015). Temporal logic motion planning using POMDPs with parity objectives: Case study paper. In <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i> (pp. 233–238). Seattle, WA, United States: ACM. <a href=\"https://doi.org/10.1145/2728606.2728617\">https://doi.org/10.1145/2728606.2728617</a>","ama":"Svoreňová M, Chmelik M, Leahy K, et al. Temporal logic motion planning using POMDPs with parity objectives: Case study paper. In: <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>. ACM; 2015:233-238. doi:<a href=\"https://doi.org/10.1145/2728606.2728617\">10.1145/2728606.2728617</a>","ieee":"M. Svoreňová <i>et al.</i>, “Temporal logic motion planning using POMDPs with parity objectives: Case study paper,” in <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, Seattle, WA, United States, 2015, pp. 233–238.","chicago":"Svoreňová, Mária, Martin Chmelik, Kevin Leahy, Hasan Eniser, Krishnendu Chatterjee, Ivana Cěrná, and Cǎlin Belta. “Temporal Logic Motion Planning Using POMDPs with Parity Objectives: Case Study Paper.” In <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, 233–38. ACM, 2015. <a href=\"https://doi.org/10.1145/2728606.2728617\">https://doi.org/10.1145/2728606.2728617</a>.","ista":"Svoreňová M, Chmelik M, Leahy K, Eniser H, Chatterjee K, Cěrná I, Belta C. 2015. Temporal logic motion planning using POMDPs with parity objectives: Case study paper. Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control. HSCC: Hybrid Systems - Computation and Control, 233–238.","short":"M. Svoreňová, M. Chmelik, K. Leahy, H. Eniser, K. Chatterjee, I. Cěrná, C. Belta, in:, Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, ACM, 2015, pp. 233–238.","mla":"Svoreňová, Mária, et al. “Temporal Logic Motion Planning Using POMDPs with Parity Objectives: Case Study Paper.” <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, ACM, 2015, pp. 233–38, doi:<a href=\"https://doi.org/10.1145/2728606.2728617\">10.1145/2728606.2728617</a>."},"month":"04","scopus_import":1,"publist_id":"5453","oa_version":"None"}