[{"uri_base":"https://research-explorer.ista.ac.at","day":"01","scopus_import":1,"dc":{"language":["eng"],"date":["2015"],"relation":["info:eu-repo/semantics/altIdentifier/doi/10.1109/ICRA.2015.7139019","info:eu-repo/semantics/altIdentifier/arxiv/1409.3360","info:eu-repo/grantAgreement/FWF//P 23499-N23","info:eu-repo/grantAgreement/FWF//S11407","info:eu-repo/grantAgreement/EC/FP7/279307"],"publisher":["IEEE"],"title":["Qualitative analysis of POMDPs with temporal logic specifications for robotics applications"],"source":["Chatterjee K, Chmelik M, Gupta R, Kanodia A. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications. In: IEEE; 2015:325-330. doi:10.1109/ICRA.2015.7139019"],"rights":["info:eu-repo/semantics/openAccess"],"creator":["Chatterjee, Krishnendu","Chmelik, Martin","Gupta, Raghav","Kanodia, Ayush"],"description":["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."],"identifier":["https://research-explorer.ista.ac.at/record/1732"],"type":["info:eu-repo/semantics/conferenceObject","doc-type:conferenceObject","text","http://purl.org/coar/resource_type/c_5794"]},"date_published":"2015-01-01T00:00:00Z","page":"325 - 330","citation":{"ista":"Chatterjee K, Chmelik M, Gupta R, Kanodia A. 2015. Qualitative analysis of POMDPs with temporal logic specifications for robotics applications. ICRA: International Conference on Robotics and Automation, 325–330.","ieee":"K. Chatterjee, M. Chmelik, R. Gupta, and A. Kanodia, “Qualitative analysis of POMDPs with temporal logic specifications for robotics applications,” presented at the ICRA: International Conference on Robotics and Automation, Seattle, WA, United States, 2015, pp. 325–330.","apa":"Chatterjee, K., Chmelik, M., Gupta, R., & Kanodia, A. (2015). Qualitative analysis of POMDPs with temporal logic specifications for robotics applications (pp. 325–330). Presented at the ICRA: International Conference on Robotics and Automation, Seattle, WA, United States: IEEE. https://doi.org/10.1109/ICRA.2015.7139019","mla":"Chatterjee, Krishnendu, et al. Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications. IEEE, 2015, pp. 325–30, doi:10.1109/ICRA.2015.7139019.","short":"K. Chatterjee, M. Chmelik, R. Gupta, A. Kanodia, in:, IEEE, 2015, pp. 325–330.","chicago":"Chatterjee, Krishnendu, Martin Chmelik, Raghav Gupta, and Ayush Kanodia. “Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications,” 325–30. IEEE, 2015. https://doi.org/10.1109/ICRA.2015.7139019."},"abstract":[{"lang":"eng"}],"type":"conference","oa_version":"Preprint","status":"public","_id":"1732","user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","month":"01","language":[{}],"conference":{"location":"Seattle, WA, United States","start_date":"2015-05-26","end_date":"2015-05-30","name":"ICRA: International Conference on Robotics and Automation"},"project":[{"_id":"2584A770-B435-11E9-9278-68D0E5697425","call_identifier":"FWF","name":"Modern Graph Algorithmic Techniques in Formal Verification"},{"_id":"25863FF4-B435-11E9-9278-68D0E5697425","name":"Game Theory","call_identifier":"FWF"},{"_id":"2581B60A-B435-11E9-9278-68D0E5697425","call_identifier":"FP7","name":"Quantitative Graph Games: Theory and Applications"}],"quality_controlled":"1","external_id":{"arxiv":[]},"oa":1,"main_file_link":[{"url":"http://arxiv.org/abs/1409.3360","open_access":"1"}],"creator":{"login":"dernst","id":"2DF688A6-F248-11E8-B48F-1D18A9856A87"},"publist_id":"5394","ec_funded":1,"date_created":"2018-12-11T11:53:43Z","dini_type":"doc-type:conferenceObject","date_updated":"2023-02-23T12:25:52Z","related_material":{"record":[{"id":"5424","relation":"earlier_version","status":"public"},{"id":"5426","status":"public","relation":"earlier_version"}]},"author":[{"id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87","orcid":"0000-0002-4561-241X","first_name":"Krishnendu","last_name":"Chatterjee"},{"id":"3624234E-F248-11E8-B48F-1D18A9856A87","last_name":"Chmelik","first_name":"Martin"},{"first_name":"Raghav","last_name":"Gupta"},{"first_name":"Ayush","last_name":"Kanodia"}],"department":[{"_id":"KrCh","tree":[{"_id":"ResearchGroups"},{"_id":"IST"}]}],"publication_status":"published"}]