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Title: Synthesis of surveillance strategies via belief abstraction
Authors: Bharadwaj, Suda
Dimitrova, Rayna
Topcu, Ufuk
First Published: 21-Jan-2019
Presented at: 2018 IEEE Conference on Decision and Control (CDC) Miami Beach, FL, USA
Start Date: 17-Dec-2018
End Date: 19-Dec-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Citation: IEEE Xplore 2018 IEEE Conference on Decision and Control (CDC)
Abstract: We 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.
DOI Link: 10.1109/CDC.2018.8619353
eISSN: 2576-2370
Version: Post-print
Status: Peer-reviewed
Type: Conference Paper
Rights: Copyright © 2019, Institute of Electrical and Electronics Engineers (IEEE). Deposited with reference to the publisher’s open access archiving policy. (
Appears in Collections:Conference Papers & Presentations, Dept. of Computer Science

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