Integrating Grammatical Inference into Robotic Planning


Jane Chandlee, Jie Fu, Konstantinos Karydis, Cesar Koirala, Jeffrey Heinz, Herbert Tanner ;
Proceedings of the Eleventh International Conference on Grammatical Inference, PMLR 21:69-83, 2012.


This paper presents a method for the control synthesis of robotic systems in an unknown, dynamic, and adversarial environments. We (1) incorporate a grammatical inference module that identifies the governing dynamics of the adversarial environment and (2) utilize game theory to compute a motion plan for a system given a task specification. The framework is flexible and modular since different games can be formulated for different system objectives and different grammatical inference algorithms can be utilized depending on the abstract nature of the dynamic environment.

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