{"page":"10","date_updated":"2025-04-15T07:55:41Z","author":[{"id":"2E5DCA20-F248-11E8-B48F-1D18A9856A87","orcid":"0000-0002-4561-241X","last_name":"Chatterjee","first_name":"Krishnendu","full_name":"Chatterjee, Krishnendu"},{"id":"3624234E-F248-11E8-B48F-1D18A9856A87","first_name":"Martin","full_name":"Chmelik, Martin","last_name":"Chmelik"},{"full_name":"Gupta, Raghav","first_name":"Raghav","last_name":"Gupta"},{"first_name":"Ayush","full_name":"Kanodia, Ayush","last_name":"Kanodia"}],"file_date_updated":"2020-07-14T12:46:51Z","has_accepted_license":"1","citation":{"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>.","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>.","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>","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.","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.","short":"K. Chatterjee, M. Chmelik, R. Gupta, A. Kanodia, Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications, IST Austria, 2014."},"publication_status":"published","publication_identifier":{"issn":["2664-1690"]},"oa":1,"day":"29","language":[{"iso":"eng"}],"user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","pubrep_id":"311","file":[{"date_updated":"2020-07-14T12:46:51Z","access_level":"open_access","file_name":"IST-2014-305-v2+1_main2.pdf","content_type":"application/pdf","creator":"system","checksum":"730c0a8e97cf2712a884b2cc423f3919","date_created":"2018-12-12T11:54:15Z","file_size":656019,"relation":"main_file","file_id":"5537"}],"abstract":[{"lang":"eng","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."}],"related_material":{"record":[{"id":"5424","relation":"earlier_version","status":"public"},{"id":"1732","relation":"later_version","status":"public"}]},"department":[{"_id":"KrCh"}],"date_published":"2014-09-29T00:00:00Z","doi":"10.15479/AT:IST-2014-305-v2-1","year":"2014","ddc":["005"],"_id":"5426","oa_version":"Published Version","status":"public","title":"Qualitative analysis of POMDPs with temporal logic specifications for robotics applications","date_created":"2018-12-12T11:39:16Z","type":"technical_report","alternative_title":["IST Austria Technical Report"],"month":"09","publisher":"IST Austria"}