Temporal Logic Path Planning under Localization Uncertainty
Amit Dhyani,Indranil Saha,Amit Dhyani,Indranil Saha
We present a method to find the optimal control strategy for a robot using prior information of localization that maximizes the probability of satisfaction of a temporal logic specification while considering the uncertainty in both motion and sensing, two major causes for localization uncertainty. The specifications are given in the probabilistic computation tree logic (PCTL) formulae over a set o...
