{"day":"09","status":"public","year":"2014","publisher":"IST Austria","page":"12","oa":1,"file_date_updated":"2020-07-14T12:46:51Z","date_published":"2014-09-09T00:00:00Z","user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","ddc":["005"],"department":[{"_id":"KrCh"}],"month":"09","date_created":"2018-12-12T11:39:15Z","citation":{"short":"K. Chatterjee, M. Chmelik, R. Gupta, A. Kanodia, Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications, IST Austria, 2014.","mla":"Chatterjee, Krishnendu, et al. <i>Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications</i>. IST Austria, 2014, doi:<a href=\"https://doi.org/10.15479/AT:IST-2014-305-v1-1\">10.15479/AT:IST-2014-305-v1-1</a>.","ama":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. <i>Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications</i>. IST Austria; 2014. doi:<a href=\"https://doi.org/10.15479/AT:IST-2014-305-v1-1\">10.15479/AT:IST-2014-305-v1-1</a>","ieee":"K. Chatterjee, M. Chmelik, R. Gupta, and A. Kanodia, <i>Qualitative analysis of POMDPs with temporal logic specifications for robotics applications</i>. IST Austria, 2014.","ista":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. 2014. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications, IST Austria, 12p.","chicago":"Chatterjee, Krishnendu, Martin Chmelik, Raghav Gupta, and Ayush Kanodia. <i>Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications</i>. IST Austria, 2014. <a href=\"https://doi.org/10.15479/AT:IST-2014-305-v1-1\">https://doi.org/10.15479/AT:IST-2014-305-v1-1</a>.","apa":"Chatterjee, K., Chmelik, M., Gupta, R., &#38; Kanodia, A. (2014). <i>Qualitative analysis of POMDPs with temporal logic specifications for robotics applications</i>. IST Austria. <a href=\"https://doi.org/10.15479/AT:IST-2014-305-v1-1\">https://doi.org/10.15479/AT:IST-2014-305-v1-1</a>"},"title":"Qualitative analysis of POMDPs with temporal logic specifications for robotics applications","alternative_title":["IST Austria Technical Report"],"related_material":{"record":[{"relation":"later_version","id":"1732","status":"public"},{"relation":"later_version","status":"public","id":"5426"}]},"_id":"5424","author":[{"last_name":"Chatterjee","id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87","full_name":"Chatterjee, Krishnendu","first_name":"Krishnendu","orcid":"0000-0002-4561-241X"},{"id":"3624234E-F248-11E8-B48F-1D18A9856A87","last_name":"Chmelik","full_name":"Chmelik, Martin","first_name":"Martin"},{"full_name":"Gupta, Raghav","first_name":"Raghav","last_name":"Gupta"},{"last_name":"Kanodia","first_name":"Ayush","full_name":"Kanodia, Ayush"}],"doi":"10.15479/AT:IST-2014-305-v1-1","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"}],"oa_version":"Published Version","publication_status":"published","has_accepted_license":"1","type":"technical_report","date_updated":"2023-02-23T12:25:52Z","language":[{"iso":"eng"}],"file":[{"date_updated":"2020-07-14T12:46:51Z","creator":"system","file_id":"5512","checksum":"35009d5fad01198341e6c1a3353481b7","date_created":"2018-12-12T11:53:51Z","file_name":"IST-2014-305-v1+1_main.pdf","relation":"main_file","access_level":"open_access","file_size":655774,"content_type":"application/pdf"}],"publication_identifier":{"issn":["2664-1690"]},"pubrep_id":"305"}