Synthesis of Joint Control and Active Sensing Strategies Under Temporal Logic Constraints

This paper proposes an approach to control of discrete systems with incomplete information and sensing capabilities, with respect to temporal logic constraints. The approach introduces active sensing to alleviate computational effort in control design for systems interacting with uncontrollable environments under incomplete information. Particularly, it transforms a deterministic controller under complete information into a randomized, observation-based controller. Interleaving the latter with strategic queries to sensors, the temporal logic specification is proven to be satisfied almost surely. The effectiveness of the method is demonstrated with robotic motion planning examples.

[1]  Ufuk Topcu,et al.  Probably Approximately Correct MDP Learning and Control With Temporal Logic Constraints , 2014, Robotics: Science and Systems.

[2]  Ufuk Topcu,et al.  Formal Synthesis of Embedded Control Software: Application to Vehicle Management Systems , 2011 .

[3]  Paul Gastin,et al.  Fast LTL to Büchi Automata Translation , 2001, CAV.

[4]  George J. Pappas,et al.  Discrete abstractions of hybrid systems , 2000, Proceedings of the IEEE.

[5]  U. Topcu,et al.  Correct , Reactive Robot Control from Abstraction and Temporal Logic Specifications , 2011 .

[6]  Ufuk Topcu,et al.  Correct, Reactive, High-Level Robot Control , 2011, IEEE Robotics & Automation Magazine.

[7]  Blai Bonet,et al.  Planning with Incomplete Information as Heuristic Search in Belief Space , 2000, AIPS.

[8]  Ivo Bolsens,et al.  Proceedings of the conference on Design, Automation & Test in Europe , 2000 .

[9]  Peter Norvig,et al.  Artificial intelligence - a modern approach, 2nd Edition , 2003, Prentice Hall series in artificial intelligence.

[10]  Ufuk Topcu,et al.  TuLiP: a software toolbox for receding horizon temporal logic planning , 2011, HSCC '11.

[11]  Thomas Wilke,et al.  Automata logics, and infinite games: a guide to current research , 2002 .

[12]  Thomas Wilke,et al.  Automata Logics, and Infinite Games , 2002, Lecture Notes in Computer Science.

[13]  Krishnendu Chatterjee,et al.  Partial-Observation Stochastic Games: How to Win When Belief Fails , 2011, 2012 27th Annual IEEE Symposium on Logic in Computer Science.

[14]  Rajeev Alur,et al.  Counterexample-guided predicate abstraction of hybrid systems , 2006, Theor. Comput. Sci..

[15]  Krishnendu Chatterjee,et al.  What is decidable about partially observable Markov decision processes with ω-regular objectives , 2013, J. Comput. Syst. Sci..

[16]  Hadas Kress-Gazit,et al.  Temporal-Logic-Based Reactive Mission and Motion Planning , 2009, IEEE Transactions on Robotics.

[17]  Mohan Sridharan,et al.  Active visual sensing and collaboration on mobile robots using hierarchical POMDPs , 2012, AAMAS.

[18]  John H. Reif,et al.  The Complexity of Two-Player Games of Incomplete Information , 1984, J. Comput. Syst. Sci..

[19]  Hector Geffner,et al.  A Translation-Based Approach to Contingent Planning , 2009, IJCAI.

[20]  Jie Fu,et al.  Bottom-Up Symbolic Control: Attractor-Based Planning and Behavior Synthesis , 2013, IEEE Transactions on Automatic Control.

[21]  Krishnendu Chatterjee,et al.  What is Decidable about Partially Observable Markov Decision Processes with omega-Regular Objectives , 2013, CSL.

[22]  N. Roy,et al.  The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance , 2009, Int. J. Robotics Res..

[23]  Igor Walukiewicz,et al.  Permissive strategies: from parity games to safety games , 2002, RAIRO Theor. Informatics Appl..

[24]  Dieter Fox,et al.  Reinforcement learning for sensing strategies , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[25]  Ufuk Topcu,et al.  Receding Horizon Temporal Logic Planning , 2012, IEEE Transactions on Automatic Control.

[26]  Krishnendu Chatterjee,et al.  Algorithms for Omega-Regular Games with Imperfect Information , 2006, Log. Methods Comput. Sci..

[27]  Yushan Chen,et al.  Temporal logic robot control based on automata learning of environmental dynamics , 2013, Int. J. Robotics Res..

[28]  Taolue Chen,et al.  Automatic Verification of Competitive Stochastic Systems , 2012, TACAS.

[29]  Calin Belta,et al.  A Fully Automated Framework for Control of Linear Systems from Temporal Logic Specifications , 2008, IEEE Transactions on Automatic Control.

[30]  Ufuk Topcu,et al.  Abstractions and sensor design in partial-information, reactive controller synthesis , 2014, 2014 American Control Conference.

[31]  Hadas Kress-Gazit,et al.  Designing Reactive Robot Controllers with LTLMoP , 2011, Automated Action Planning for Autonomous Mobile Robots.

[32]  Alexandre Albore,et al.  Acting in Partially Observable Environments When Achievement of the Goal Cannot be Guaranteed , 2009 .

[33]  Amir Pnueli,et al.  Automatic Hardware Synthesis from Specifications: A Case Study , 2007 .

[34]  Alex M. Andrew,et al.  Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems , 2002 .

[35]  Krishnendu Chatterjee,et al.  Alpaga: A Tool for Solving Parity Games with Imperfect Information , 2009, TACAS.

[36]  Guy Shani,et al.  Replanning in Domains with Partial Information and Sensing Actions , 2011, IJCAI.

[37]  Ufuk Topcu,et al.  Receding horizon temporal logic planning for dynamical systems , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[38]  Rajeev Alur,et al.  Deterministic generators and games for LTL fragments , 2001, Proceedings 16th Annual IEEE Symposium on Logic in Computer Science.

[39]  Jie Fu,et al.  Adaptive Symbolic Control for Finite-State Transition Systems With Grammatical Inference , 2014, IEEE Transactions on Automatic Control.

[40]  Shlomi Maliah,et al.  Heuristics for Planning under Partial Observability with Sensing Actions , 2013 .

[41]  Ana Sokolova,et al.  Generic Trace Semantics via Coinduction , 2007, Log. Methods Comput. Sci..

[42]  Amir Pnueli,et al.  Jtlv: A Framework for Developing Verification Algorithms , 2010, CAV.

[43]  Igor Walukiewicz,et al.  Games for synthesis of controllers with partial observation , 2003, Theor. Comput. Sci..

[44]  Fahiem Bacchus,et al.  Extending the Knowledge-Based Approach to Planning with Incomplete Information and Sensing , 2004, ICAPS.