Related papers: Using SyGuS to Synthesize Reactive Motion Plans

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

We present a language to specify syntax guided synthesis (SyGuS) problems. Syntax guidance is a prominent theme in contemporary program synthesis approaches, and SyGuS was first described in [1]. This paper describes concretely the input…

In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…

Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-art approaches to social navigation fall into two categories:…

We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…

Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective…

Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

We propose a novel approach to understanding the decision making of complex machine learning models (e.g., deep neural networks) using a combination of probably approximately correct learning (PAC) and a logic inference methodology called…

A key challenge in multi-agent systems is the design of intelligent agents solving real-world tasks in close interaction with other agents (e.g. humans), thereby being confronted with a variety of behavioral variations and limited knowledge…

We introduce the reactive synthesis competition (SYNTCOMP), a long-term effort intended to stimulate and guide advances in the design and application of synthesis procedures for reactive systems. The first iteration of SYNTCOMP is based on…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

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…

Constructing good test cases is difficult and time-consuming, especially if the system under test is still under development and its exact behavior is not yet fixed. We propose a new approach to compute test strategies for reactive systems…

Program synthesis is the task of automatically generating expressions that satisfy a given specification. Program synthesis techniques have been used to automate the generation of loop invariants in code, synthesize function summaries, and…

We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…

Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…

The synthesis of reactive systems from linear temporal logic (LTL) specifications is an important aspect in the design of reliable software and hardware. We present our adaption of the classic automata-theoretic approach to LTL synthesis,…