Dr Nick Hawes

This list is no longer actively maintained, but I will leave it here for reference. For an up to date list, please see my new site at the University of Oxford.

[lacerda17icaps] Bruno Lacerda, David Parker and Nick Hawes. Multi-Objective Policy Generation for Mobile Robots Under Probabilistic Time-Bounded Guarantees. In The 27th International Conference on Automated Planning and Scheduling (ICAPS 2017). June 2017. [pdf] [bib]
Abstract. We present a methodology for the generation of mobile robot controllers which offer probabilistic time-bounded guarantees on successful task completion, whilst also trying to satisfy soft goals. The approach is based on a stochastic model of the robot’s environment and action execution times, a set of soft goals, and a formal task specification in co-safe linear temporal logic, which are analysed using multi-objective model checking techniques for Markov decision processes. For efficiency, we propose a novel two-step approach. First, we explore policies on the Pareto front for minimising expected task execution time whilst optimising the achievement of soft goals. Then, we use this to prune a model with more detailed timing information, yielding a time-dependent policy for which more fine-grained probabilistic guarantees can be provided. We illustrate and evaluate the generation of policies on a delivery task in a care home scenario, where the robot also tries to engage in entertainment activities with the patients.
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