Automatic deployment of a Robot with noisy sensors and actuators in Robotic InDoor Environment (RIDE) Simulator and Experimental Plantform from PCTL Specifications

 

Specification 1: find the control policy and its corresponding probability value which produces maximum probability of reaching R9 without visiting R6.

Simulation video

 

Experiment Video

 

 

Specification 2: find the control policy and its corresponding probability value which produces maximum probability of reaching R9 without visiting R6 and R8.

Simulation video

 

Experiment Video

 

Specification 3: find the control policy and its corresponding probability value which produces maximum probability of reaching Destination 1 by always avoiding Unsafe regions.

Simulation video

 

 

Specification 4: find the control policy and its corresponding probability value which produces maximum probability of reaching Destination 1 by going through the regions from which the probability of converging to a Relatively safe region is less than 0.50 and always avoiding Unsafe regions.

Simulation video

 

 

Specification 5: find the control policy and its corresponding probability value which produces maximum probability of reaching Destination 1 by avoiding Unsafe and Relatively safe regions if Medical supply 1 is not available at such regions, and then with probability greater than or equal to 0.5, reach Destination 2 by driving through regions that are Safe or at which Medical supply 2 is available.

Simulation video