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Xu Chu Ding

  1. Temporal Logic Motion Control using Actor-Critic Methods.

    Mon, 02/13/2012 - 15:01 — SomNambul
    Authors: Jing Wang, Xu Chu Ding, Morteza Lahijanian, Calin A. Belta, Ioannis Ch. Paschalidis
    Subjects: Robotics
    Abstract

    In this paper, we consider the problem of deploying a robot from a
    specification given as a temporal logic statement about some properties
    satisfied by the regions of a large, partitioned environment. We assume that
    the robot has noisy sensors and actuators and model its motion through the
    regions of the environment as a Markov Decision Process (MDP). The robot
    control problem becomes finding the control policy maximizing the probability
    of satisfying the temporal logic task on the MDP.

  2. Robust Multi-Robot Optimal Path Planning with Temporal Logic Constraints.

    Wed, 02/08/2012 - 15:01 — SomNambul
    Authors: Stephen L. Smith, Calin Belta, Alphan Ulusoy, Xu Chu Ding
    Subjects: Robotics
    Abstract

    In this paper we present a method for automatically planning robust optimal
    paths for a group of robots that satisfy a common high level mission
    specification. Each robot's motion in the environment is modeled as a weighted
    transition system, and the mission is given as a Linear Temporal Logic (LTL)
    formula over a set of propositions satisfied by the regions of the environment.
    In addition, an optimizing proposition must repeatedly be satisfied.

  3. Least Squares Temporal Difference Actor-Critic Methods with Applications to Robot Motion Control.

    Thu, 08/25/2011 - 15:01 — SomNambul
    Authors: Jing Wang, Xu Chu Ding, Reza Moazzez Estanjini, Morteza Lahijanian, Calin A. Belta, Ioannis Ch. Paschalidis
    Subjects: Robotics
    Abstract

    We consider the problem of finding a control policy for a Markov Decision
    Process (MDP) to maximize the probability of reaching some states while
    avoiding some other states. This problem is motivated by applications in
    robotics, where such problems naturally arise when probabilistic models of
    robot motion are required to satisfy temporal logic task specifications. We
    transform this problem into a Stochastic Shortest Path (SSP) problem and
    develop a new approximate dynamic programming algorithm to solve it.

  4. Optimal Multi-Robot Path Planning with Temporal Logic Constraints.

    Mon, 07/04/2011 - 15:01 — SomNambul
    Authors: Stephen L. Smith, Calin Belta, Daniela Rus, Alphan Ulusoy, Xu Chu Ding
    Subjects: Robotics
    Abstract

    In this paper we present a method for automatically planning optimal paths
    for a group of robots that satisfy a common high level mission specification.
    Each robot's motion in the environment is modeled as a weighted transition
    system. The mission is given as a Linear Temporal Logic formula. In addition,
    an optimizing proposition must repeatedly be satisfied. The goal is to minimize
    the maximum time between satisfying instances of the optimizing proposition.
    Our method is guaranteed to compute an optimal set of robot paths.

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