Temporal Logic Motion Planning and Control With Probabilistic Satisfaction Guarantees

摘要

We describe a computational framework for automatic deployment of a robot with sensor and actuator noise from a temporal logic specification over a set of properties that are satisfied by the regions of a partitioned environment. We model the motion of the robot in the environment as a Markov decision process (MDP) and translate the motion specification to a formula of probabilistic computation tree logic (PCTL). As a result, the robot control problem is mapped to that of generating an MDP control policy from a PCTL formula. We present algorithms for the synthesis of such policies for different classes of PCTL formulas. We illustrate our method with simulation and experimental results.