{"date_created":"2018-12-12T11:39:16Z","title":"Qualitative analysis of POMDPs with temporal logic specifications for robotics applications","oa_version":"Published Version","page":"10","publication_status":"published","file":[{"creator":"system","access_level":"open_access","relation":"main_file","file_name":"IST-2014-305-v2+1_main2.pdf","date_updated":"2020-07-14T12:46:51Z","file_size":656019,"content_type":"application/pdf","checksum":"730c0a8e97cf2712a884b2cc423f3919","date_created":"2018-12-12T11:54:15Z","file_id":"5537"}],"has_accepted_license":"1","date_published":"2014-09-29T00:00:00Z","oa":1,"year":"2014","pubrep_id":"311","file_date_updated":"2020-07-14T12:46:51Z","_id":"5426","ddc":["005"],"month":"09","related_material":{"record":[{"relation":"later_version","status":"public","id":"1732"},{"id":"5424","status":"public","relation":"earlier_version"}]},"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"}],"language":[{"iso":"eng"}],"publication_identifier":{"issn":["2664-1690"]},"status":"public","department":[{"_id":"KrCh"}],"citation":{"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-v2-1\">10.15479/AT:IST-2014-305-v2-1</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-v2-1\">https://doi.org/10.15479/AT:IST-2014-305-v2-1</a>","ista":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. 2014. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications, IST Austria, 10p.","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.","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-v2-1\">10.15479/AT:IST-2014-305-v2-1</a>","short":"K. Chatterjee, M. Chmelik, R. Gupta, A. Kanodia, Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications, IST Austria, 2014.","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-v2-1\">https://doi.org/10.15479/AT:IST-2014-305-v2-1</a>."},"publisher":"IST Austria","date_updated":"2023-02-23T12:25:47Z","day":"29","alternative_title":["IST Austria Technical Report"],"doi":"10.15479/AT:IST-2014-305-v2-1","author":[{"last_name":"Chatterjee","first_name":"Krishnendu","full_name":"Chatterjee, Krishnendu","orcid":"0000-0002-4561-241X","id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87"},{"last_name":"Chmelik","first_name":"Martin","full_name":"Chmelik, Martin","id":"3624234E-F248-11E8-B48F-1D18A9856A87"},{"full_name":"Gupta, Raghav","first_name":"Raghav","last_name":"Gupta"},{"full_name":"Kanodia, Ayush","last_name":"Kanodia","first_name":"Ayush"}],"type":"technical_report","user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87"}