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Synthesis for Multi-objective Stochastic Games: An Application to Autonomous Urban Driving

  • Taolue Chen
  • Marta Kwiatkowska
  • Aistis Simaitis
  • Clemens Wiltsche
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8054)

Abstract

We study strategy synthesis for stochastic two-player games with multiple objectives expressed as a conjunction of LTL and expected total reward goals. For stopping games, the strategies are constructed from the Pareto frontiers that we compute via value iteration. Since, in general, infinite memory is required for deterministic winning strategies in such games, our construction takes advantage of randomised memory updates in order to provide compact strategies. We implement our methods in PRISM-games, a model checker for stochastic multi-player games, and present a case study motivated by the DARPA Urban Challenge, illustrating how our methods can be used to synthesise strategies for high-level control of autonomous vehicles.

Keywords

Road Segment Markov Decision Process Reward Function Pareto Frontier Linear Temporal Logic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Taolue Chen
    • 1
  • Marta Kwiatkowska
    • 1
  • Aistis Simaitis
    • 1
  • Clemens Wiltsche
    • 1
  1. 1.Department of Computer ScienceUniversity of OxfordUnited Kingdom

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