Related papers: Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction

Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction

URL: http://arxiv.org/abs/2010.06797v5
Date: Tue, 5 Oct 2021 16:01:44 GMT
Title: Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction
Authors: Mingyu Cai, Shaoping Xiao, Baoluo Li, Zhiliang Li and Zhen Kan
Abstract summary: This paper presents a model-free reinforcement learning algorithm to synthesize a control policy. The effectiveness of the RL-based control synthesis is demonstrated via simulation and experimental results.
Score: 5.337302350000984
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Abstract: This paper presents a model-free reinforcement learning (RL) algorithm to synthesize a control policy that maximizes the satisfaction probability of linear temporal logic (LTL) specifications. Due to the consideration of environment and motion uncertainties, we model the robot motion as a probabilistic labeled Markov decision process with unknown transition probabilities and unknown probabilistic label functions. The LTL task specification is converted to a limit deterministic generalized B\"uchi automaton (LDGBA) with several accepting sets to maintain dense rewards during learning. The novelty of applying LDGBA is to construct an embedded LDGBA (E-LDGBA) by designing a synchronous tracking-frontier function, which enables the record of non-visited accepting sets without increasing dimensional and computational complexity. With appropriate dependent reward and discount functions, rigorous analysis shows that any method that optimizes the expected discount return of the RL-based approach is guaranteed to find the optimal policy that maximizes the satisfaction probability of the LTL specifications. A model-free RL-based motion planning strategy is developed to generate the optimal policy in this paper. The effectiveness of the RL-based control synthesis is demonstrated via simulation and experimental results.