Model-based motion planning in POMDPs with temporal logic specifications.
Junchao LiMingyu CaiZhaoan WangShaoping XiaoPublished 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