1709.05363v2.pdf (1.26 MB)
Download fileSynthesis of surveillance strategies via belief abstraction
conference contribution
posted on 2019-06-25, 13:19 authored by Suda Bharadwaj, Rayna Dimitrova, Ufuk TopcuWe provide a novel framework for the synthesis of a controller for a robot with a surveillance objective, that is, the robot is required to maintain knowledge of the location of a moving, possibly adversarial target. We formulate this problem as a one-sided partial-information game in which the winning condition for the agent is specified as a temporal logic formula. The specification formalizes the surveillance requirement given by the user by quantifying and reasoning over the agent's beliefs about a target's location. We also incorporate additional non-surveillance tasks. In order to synthesize a surveillance strategy that meets the specification, we transform the partial-information game into a perfect-information one, using abstraction to mitigate the exponential blow-up typically incurred by such transformations. This transformation enables the use of off-the-shelf tools for reactive synthesis. We evaluate the proposed method on two case-studies, demonstrating its applicability to diverse surveillance requirements.
Funding
This work was supported in part by grant Sandia National Lab 801KOB, grant ARO W911NF-15-1-0592, and grant DARPA W911NF-16-1-0001.
History
Citation
IEEE Xplore 2018 IEEE Conference on Decision and Control (CDC)Author affiliation
/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of InformaticsSource
2018 IEEE Conference on Decision and Control (CDC) Miami Beach, FL, USAVersion
- AM (Accepted Manuscript)