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About this paper
Roland B. Ilyes, Qi Heng Ho, Morteza Lahijanian
The authors introduce StoRI, a measure that scores how uncertainty affects whether robot trajectories satisfy continuous-time tasks. Its monitor bounds scores for incomplete paths, allowing a sampling-based planner to prune paths that cannot meet a threshold. Simulations show correlation with satisfaction rates, but include mismatches; only a StoRM score of 1 guarantees satisfaction with probability 1, apart from a measure-zero set.
Summary by alphaXiv.
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