{"type":"conference","date_updated":"2023-02-23T12:25:52Z","abstract":[{"text":"We consider partially observable Markov decision processes (POMDPs), that are a standard framework for robotics applications to model uncertainties present in the real world, with temporal logic specifications. All temporal logic specifications in linear-time temporal logic (LTL) can be expressed as parity objectives. We study the qualitative analysis problem for POMDPs with parity objectives that asks whether there is a controller (policy) to ensure that the objective holds with probability 1 (almost-surely). While the qualitative analysis of POMDPs with parity objectives is undecidable, recent results show that when restricted to finite-memory policies the problem is EXPTIME-complete. While the problem is intractable in theory, we present a practical approach to solve the qualitative analysis problem. We designed several heuristics to deal with the exponential complexity, and have used our implementation on a number of well-known POMDP examples for robotics applications. Our results provide the first practical approach to solve the qualitative analysis of robot motion planning with LTL properties in the presence of uncertainty.","lang":"eng"}],"publication_status":"published","related_material":{"record":[{"status":"public","id":"5424","relation":"earlier_version"},{"relation":"earlier_version","status":"public","id":"5426"}]},"doi":"10.1109/ICRA.2015.7139019","conference":{"start_date":"2015-05-26","end_date":"2015-05-30","name":"ICRA: International Conference on Robotics and Automation","location":"Seattle, WA, United States"},"author":[{"first_name":"Krishnendu","full_name":"Chatterjee, Krishnendu","orcid":"0000-0002-4561-241X","last_name":"Chatterjee","id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87"},{"first_name":"Martin","full_name":"Chmelik, Martin","last_name":"Chmelik","id":"3624234E-F248-11E8-B48F-1D18A9856A87"},{"full_name":"Gupta, Raghav","first_name":"Raghav","last_name":"Gupta"},{"last_name":"Kanodia","first_name":"Ayush","full_name":"Kanodia, Ayush"}],"_id":"1732","date_created":"2018-12-11T11:53:43Z","month":"01","citation":{"chicago":"Chatterjee, Krishnendu, Martin Chmelik, Raghav Gupta, and Ayush Kanodia. “Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications,” 325–30. IEEE, 2015. <a href=\"https://doi.org/10.1109/ICRA.2015.7139019\">https://doi.org/10.1109/ICRA.2015.7139019</a>.","ista":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. 2015. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications. ICRA: International Conference on Robotics and Automation, 325–330.","apa":"Chatterjee, K., Chmelik, M., Gupta, R., &#38; Kanodia, A. (2015). Qualitative analysis of POMDPs with temporal logic specifications for robotics applications (pp. 325–330). Presented at the ICRA: International Conference on Robotics and Automation, Seattle, WA, United States: IEEE. <a href=\"https://doi.org/10.1109/ICRA.2015.7139019\">https://doi.org/10.1109/ICRA.2015.7139019</a>","ama":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications. In: IEEE; 2015:325-330. doi:<a href=\"https://doi.org/10.1109/ICRA.2015.7139019\">10.1109/ICRA.2015.7139019</a>","mla":"Chatterjee, Krishnendu, et al. <i>Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications</i>. IEEE, 2015, pp. 325–30, doi:<a href=\"https://doi.org/10.1109/ICRA.2015.7139019\">10.1109/ICRA.2015.7139019</a>.","short":"K. Chatterjee, M. Chmelik, R. Gupta, A. Kanodia, in:, IEEE, 2015, pp. 325–330.","ieee":"K. Chatterjee, M. Chmelik, R. Gupta, and A. Kanodia, “Qualitative analysis of POMDPs with temporal logic specifications for robotics applications,” presented at the ICRA: International Conference on Robotics and Automation, Seattle, WA, United States, 2015, pp. 325–330."},"department":[{"_id":"KrCh"}],"oa":1,"user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","external_id":{"arxiv":["1409.3360"]},"page":"325 - 330","status":"public","project":[{"grant_number":"P 23499-N23","_id":"2584A770-B435-11E9-9278-68D0E5697425","name":"Modern Graph Algorithmic Techniques in Formal Verification","call_identifier":"FWF"},{"call_identifier":"FWF","name":"Game Theory","_id":"25863FF4-B435-11E9-9278-68D0E5697425","grant_number":"S11407"},{"call_identifier":"FP7","name":"Quantitative Graph Games: Theory and Applications","_id":"2581B60A-B435-11E9-9278-68D0E5697425","grant_number":"279307"}],"language":[{"iso":"eng"}],"publist_id":"5394","oa_version":"Preprint","title":"Qualitative analysis of POMDPs with temporal logic specifications for robotics applications","quality_controlled":"1","scopus_import":1,"main_file_link":[{"open_access":"1","url":"http://arxiv.org/abs/1409.3360"}],"date_published":"2015-01-01T00:00:00Z","day":"01","ec_funded":1,"year":"2015","publisher":"IEEE"}