Related papers: Using SyGuS to Synthesize Reactive Motion Plans

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…

We study the problem of synthesizing a controller for a robot with a surveillance objective, that is, the robot is required to maintain knowledge of the location of a moving, possibly adversarial target. We formulate this problem as a…

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…

Simulating stylized human-scene interactions (HSI) in physical environments is a challenging yet fascinating task. Prior works emphasize long-term execution but fall short in achieving both diverse style and physical plausibility. To tackle…

Creating realistic characters that can react to the users' or another character's movement can benefit computer graphics, games and virtual reality hugely. However, synthesizing such reactive motions in human-human interactions is a…

In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the…

Finite-state controllers (FSCs), such as plans with loops, are powerful and compact representations of action selection widely used in robotics, video games and logistics. There has been steady progress on synthesizing FSCs in deterministic…

Synthesis is the automated construction of a system from its specification. The system has to satisfy its specification in all possible environments. Modern systems often interact with other systems, or agents. Many times these agents have…

Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

Obliging games have been introduced in the context of the game perspective on reactive synthesis in order to enforce a degree of cooperation between the to-be-synthesized system and the environment. Previous approaches to the analysis of…

In Reasoning about Action and Planning, one synthesizes the agent plan by taking advantage of the assumption on how the environment works (that is, one exploits the environment's effects, its fairness, its trajectory constraints). In this…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…