A Constraint-Based Approach to Reactive Task and Motion Planning

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dc.contributor.advisorChaudhuri, Swarat
dc.contributor.committeeMemberKavraki, Lydia E
dc.contributor.committeeMemberVardi, Moshe Y
dc.creatorWang, Yue
dc.date.accessioned2016-02-05T21:46:36Z
dc.date.available2016-02-05T21:46:36Z
dc.date.created2015-12
dc.date.issued2016-01-26
dc.date.submittedDecember 2015
dc.date.updated2016-02-05T21:46:36Z
dc.description.abstractThis thesis presents a novel and scalable approach for Reactive Task and Motion Planning. We consider changing environments with uncontrollable agents, where the robot needs a policy to respond correctly in the infinite interaction with the environment. Our approach operates on task and motion domains that combine actions over discrete states with continuous, collision-free paths. We synthesize a policy by iteratively verifying and searching for a policy candidate. For efficient verification, we employ Satisfiability Modulo Theories (SMT) solvers using a new extension of proof rules for Temporal Property Verification. For efficient policy search, we apply domain-specific heuristics to generalize verification failures. Furthermore, the SMT solver enables quantitative specifications such as energy limits. We benchmark our policy synthesizer in a mobile manipulation domain, showing that our approach offers better scalability compared to a state-of-the-art robotic synthesis tool in the tested benchmarks and demonstrating order-of-magnitude speedup from our heuristics.
dc.format.mimetypeapplication/pdf
dc.identifier.citationWang, Yue. "A Constraint-Based Approach to Reactive Task and Motion Planning." (2016) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/88419">https://hdl.handle.net/1911/88419</a>.
dc.identifier.urihttps://hdl.handle.net/1911/88419
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectConstraint-based approaches
dc.subjectReactive synthesis
dc.subjectSyntax-guided synthesis
dc.subjectMobile manipulation
dc.titleA Constraint-Based Approach to Reactive Task and Motion Planning
dc.typeThesis
dc.type.materialText
thesis.degree.departmentComputer Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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