### Control in belief space with Temporal Logic specifications

@inproceedings{vasile_control_2016,
address = {Las Vegas, NV, USA},
title = {Control in belief space with {Temporal} {Logic} specifications},
isbn = {978-1-5090-1837-6},
url = {http://ieeexplore.ieee.org/document/7799415/},
abstract = {In this paper, we present a sampling-based algorithm to synthesize control policies with temporal and uncertainty constraints. We introduce a speciﬁcation language called Gaussian Distribution Temporal Logic (GDTL), an extension of Boolean logic that allows us to incorporate temporal evolution and noise mitigation directly into the task speciﬁcations, e.g. “Go to region A and reduce the variance of your state estimate below 0.1 m2.” Our algorithm generates a transition system in the belief space and uses local feedback controllers to break the curse of history associated with belief space planning. Furthermore, conventional automata-based methods become tractable. Switching control policies are then computed using a product Markov Decision Process (MDP) between the transition system and the Rabin automaton encoding the task speciﬁcation. We present algorithms to translate a GDTL formula to a Rabin automaton and to efﬁciently construct the product MDP by leveraging recent results from incremental computing. Our approach is evaluated in hardware experiments using a camera network and ground robot.},
language = {en},
urldate = {2021-04-10},
booktitle = {2016 {IEEE} 55th {Conference} on {Decision} and {Control} ({CDC})},
publisher = {IEEE},
author = {Vasile, Cristian-Ioan and Leahy, Kevin and Cristofalo, Eric and Jones, Austin and Schwager, Mac and Belta, Calin},
month = dec,
year = {2016},
pages = {7419--7424},
month_numeric = {12}
}