Verification of Uncertain POMDPs Using Barrier Certificates

被引:0
|
作者
Ahmadi, Mohamadreza [1 ,2 ]
Cubuktepe, Murat [1 ,2 ]
Jansen, Nils [3 ]
Topcu, Ufuk [1 ,2 ]
机构
[1] Univ Texas Austin, Dept Aerosp Engn & Engn Mech, 201 E 24th St, Austin, TX 78712 USA
[2] Univ Texas Austin, ICES, 201 E 24th St, Austin, TX 78712 USA
[3] Radboud Univ Nijmegen, Nijmegen, Netherlands
来源
2018 56TH ANNUAL ALLERTON CONFERENCE ON COMMUNICATION, CONTROL, AND COMPUTING (ALLERTON) | 2018年
关键词
MARKOV DECISION-PROCESSES; SAFETY VERIFICATION;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We consider a class of partially observable Markov decision processes (POMDPs) with uncertain transition and/or observation probabilities. The uncertainty takes the form of probability intervals. Such uncertain POMDPs can be used, for example, to model autonomous agents with sensors with limited accuracy, or undergoing a sudden component failure, or structural damage [1]. Given an uncertain POMDP representation of the autonomous agent, our goal is to propose a method for checking whether the system will satisfy an optimal performance, while not violating a safety requirement (e.g. fuel level, velocity, and etc.). To this end, we cast the POMDP problem into a switched system scenario. We then take advantage of this switched system characterization and propose a method based on barrier certificates for optimality and/or safety verification. We then show that the verification task can be carried out computationally by sum-of-squares programming. We illustrate the efficacy of our method by applying it to a Mars rover exploration example.
引用
收藏
页码:115 / 122
页数:8
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