A Constraint-Based Approach to Reactive Task and Motion Planning

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dc.contributor.advisorChaudhuri, Swaraten_US
dc.contributor.committeeMemberKavraki, Lydia Een_US
dc.contributor.committeeMemberVardi, Moshe Yen_US
dc.creatorWang, Yueen_US
dc.date.accessioned2016-02-05T21:46:36Zen_US
dc.date.available2016-02-05T21:46:36Zen_US
dc.date.created2015-12en_US
dc.date.issued2016-01-26en_US
dc.date.submittedDecember 2015en_US
dc.date.updated2016-02-05T21:46:36Zen_US
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.en_US
dc.format.mimetypeapplication/pdfen_US
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>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/88419en_US
dc.language.isoengen_US
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.en_US
dc.subjectConstraint-based approachesen_US
dc.subjectReactive synthesisen_US
dc.subjectSyntax-guided synthesisen_US
dc.subjectMobile manipulationen_US
dc.titleA Constraint-Based Approach to Reactive Task and Motion Planningen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentComputer Scienceen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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