General Optimization Framework for Recurrent Reachability Objectives

General Optimization Framework for Recurrent Reachability Objectives

David Klaska, Antonin Kucera, Vit Musil, Vojtech Rehak

Proceedings of the Thirty-First International Joint Conference on Artificial Intelligence
Main Track. Pages 4642-4648. https://doi.org/10.24963/ijcai.2022/644

We consider the mobile robot path planning problem for a class of recurrent reachability objectives. These objectives are parameterized by the expected time needed to visit one position from another, the expected square of this time, and also the frequency of moves between two neighboring locations. We design an efficient strategy synthesis algorithm for recurrent reachability objectives and demonstrate its functionality on non-trivial instances.
Keywords:
Planning and Scheduling: Robot Planning
Agent-based and Multi-agent Systems: Algorithmic Game Theory
Agent-based and Multi-agent Systems: Mechanism Design
Planning and Scheduling: Planning Algorithms
Planning and Scheduling: Theoretical Foundations of Planning