Related papers: Near-Optimal Reactive Synthesis Incorporating Runt…
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,…
We consider the problem of synthesizing resilient and stochastically stable strategies for systems of cooperating agents striving to minimize the expected time between consecutive visits to selected locations in a known environment. A…
We consider a type of optimal switching problems with non-uniform execution delays and ramping. Such problems frequently occur in the operation of economical and engineering systems. We first provide a solution to the problem by applying a…
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…
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…
Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…
Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid system satisfies a quantitative specification. We formalize and…
We present an approach for synthesizing reactive robot motion plans, based on compilation to Syntax-Guided Synthesis (SyGuS) specifications. Our method reduces the motion planning problem to the problem of synthesizing a function that can…
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based approach for reactive test synthesis from temporal logic…
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…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
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…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…
We study real-time routing policies in smart transit systems, where the platform has a combination of cars and high-capacity vehicles (e.g., buses or shuttles) and seeks to serve a set of incoming trip requests. The platform can use its…
This work introduces efficient symbolic algorithms for quantitative reactive synthesis. We consider resource-constrained robotic manipulators that need to interact with a human to achieve a complex task expressed in linear temporal logic.…
Dynamic and evolving operational and economic environments present significant challenges for decision-making. We explore a simulation optimization problem characterized by non-stationary input distributions with regime-switching dynamics…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
We consider the mobile robot path planning problem for a class of recurrent reachability objectives. These objectives are parameterized by the expected time needed to visit one position from another, the expected square of this time, and…