Montana, F.J., Liu, J. and Dodd, T.J. orcid.org/0000-0001-6820-4526 (2016) Sampling-based stochastic optimal control with metric interval temporal logic specifications. In: 2016 IEEE Conference on Control Applications (CCA). 2016 IEEE Conference on Control Applications (CCA), 19-22 Sep 2016, Buenos Aires, Argentina. IEEE ISBN 978-1-5090-0755-4
Abstract
This paper describes a method to find optimal policies for stochastic dynamic systems that maximise the probability of satisfying real-time properties. The method consists of two phases. In the first phase, a coarse abstraction of the original system is created. In each region of the abstraction, a sampling-based algorithm is utilised to compute local policies that allow the system to move between regions. Then, in the second phase, the selection of a policy in each region is obtained by solving a reachability problem on the Cartesian product between the abstraction and a timed automaton representing a real-time specification given as a metric interval temporal logic formula. In contrast to current methods that require a fine abstraction, the proposed method achieves computational tractability by modelling the coarse abstraction of the system as a bounded-parameter Markov decision process (BMDP). Moreover, once the BMDP is created, this can be reused for new specifications assuming the same stochastic system and workspace. The method is demonstrated with an autonomous driving example.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Automata; Clocks; Stochastic systems; Real-time systems; Markov processes |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 12 Oct 2017 13:31 |
Last Modified: | 19 Dec 2022 13:37 |
Published Version: | https://doi.org/10.1109/CCA.2016.7587911 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/CCA.2016.7587911 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:122231 |