Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces
Sofie Haesaert, Rohan Thakker, R Nilsson, Ali–akbar Agha–mohammadi, Richard M. Murray · 2019
Navigation problems expressed via temporal logics show promise for autonomous robot applications due to their versatility. In this paper, we introduce a method for planning with these specifications in uncertain environments that yields guaranteed satisfaction probabilities. We show that point-based value iteration can be combined with probabilistic roadmaps to solve this planning problem over the belief space of the uncertain environment.