Model-based motion planning in POMDPs with temporal logic specifications.

Junchao Li Mingyu Cai Zhaoan Wang Shaoping Xiao

Published in: Adv. Robotics (2023)

Keyphrases

motion planning
temporal logic
belief space
concurrent systems
transition systems
model checking
reactive systems
model checker
formal specification language
bounded model checking
degrees of freedom
mobile robot

modal logic
trajectory planning
formal specification
robot arm
path planning
finite state
humanoid robot
belief revision
robotic tasks
robotic arm
computation tree logic
formal verification

configuration space
belief state
partially observable markov decision processes
partial observability
verification method
multi robot
linear temporal logic
automata theoretic
mechanical systems
reinforcement learning
object recognition

temporal knowledge
climbing robot
mazurkiewicz traces
collision free
vision system
dynamic constraints
multi modal
state space
viewpoint
search algorithm
multi agent