Related papers: Dynamics-Based Reactive Synthesis and Automated Re…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
With the increasing ubiquity of multi-capable, general-purpose robots arises the need for enabling non-expert users to command these robots to perform complex high-level tasks. To this end, high-level robot control has seen the application…
Reactive synthesis is a paradigm for automatically building correct-by-construction systems that interact with an unknown or adversarial environment. We study how to do reactive synthesis when part of the specification of the system is that…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…
In formal synthesis of reactive systems an implementation of a system is automatically constructed from its formal specification. The great advantage of synthesis is that the resulting implementation is correct by construction; therefore…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available…
A modern approach to engineering correct-by-construction systems is to synthesize them automatically from formal specifications. Oftentimes, a system can only satisfy its guarantees if certain environment assumptions hold, which motivates…
Reactive synthesis transforms a specification of a reactive system, given in a temporal logic, into an implementation. The main advantage of synthesis is that it is automatic. The main disadvantage is that the implementation is usually very…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous methods relying on user intervention to impose additional…
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies,…
Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to…
Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…
Reactive synthesis algorithms allow automatic construction of policies to control an environment modeled as a Markov Decision Process (MDP) that are optimal with respect to high-level temporal logic specifications. However, they assume that…
This paper presents a novel approach to learning from demonstration that enables robots to autonomously execute complex tasks in dynamic environments. We model latent tasks as probabilistic formal languages and introduce a tailored reactive…
Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…