AAAI Publications, Twenty-Eighth AAAI Conference on Artificial Intelligence

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Saturated Path-Constrained MDP: Planning under Uncertainty and Deterministic Model-Checking Constraints
Jonathan Sprauel, Andrey Kolobov, Florent Teichteil-Königsbuch

Last modified: 2014-06-21


In many probabilistic planning scenarios, a system’s behavior needs to not only maximize the expected utility but also obey certain restrictions. This paper presents Saturated Path-Constrained Markov Decision Processes (SPC MDPs), a new MDP type for planning under uncertainty with deterministic model-checking constraints, e.g., "state s must be visited befores s'", "the system must end up in s", or "the system must never enter s". We present a mathematical analysis of SPCMDPs, showing that although SPC MDPs generally have no optimal policies, every instance of this class has an epsilon-optimal randomized policy for any > 0. We propose a dynamic programming-based algorithm for finding such policies, and empirically demonstrate this algorithm to be orders of magnitude faster than its next-best alternative.


Safe and Optimal Controller Synthesis; Uncertainty and Stochasticity; Planning under Uncertainty; Model-Checking PCTL Constraints; Path-Constrained Markov Decision Processes

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