24,469 research outputs found
Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic Tasks
Signal temporal logic (STL) provides a user-friendly interface for defining
complex tasks for robotic systems. Recent efforts aim at designing control laws
or using reinforcement learning methods to find policies which guarantee
satisfaction of these tasks. While the former suffer from the trade-off between
task specification and computational complexity, the latter encounter
difficulties in exploration as the tasks become more complex and challenging to
satisfy. This paper proposes to combine the benefits of the two approaches and
use an efficient prescribed performance control (PPC) base law to guide
exploration within the reinforcement learning algorithm. The potential of the
method is demonstrated in a simulated environment through two sample
navigational tasks.Comment: This is the extended version of the paper accepted to the 2019
American Control Conference (ACC), Philadelphia (to be published
Stacked Thompson Bandits
We introduce Stacked Thompson Bandits (STB) for efficiently generating plans
that are likely to satisfy a given bounded temporal logic requirement. STB uses
a simulation for evaluation of plans, and takes a Bayesian approach to using
the resulting information to guide its search. In particular, we show that
stacking multiarmed bandits and using Thompson sampling to guide the action
selection process for each bandit enables STB to generate plans that satisfy
requirements with a high probability while only searching a fraction of the
search space.Comment: Accepted at SEsCPS @ ICSE 201
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