Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis

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dc.citation.firstpage285
dc.citation.issueNumber2
dc.citation.journalTitleIEEE Robotics and Automation Lettersﾠ
dc.citation.lastpage292
dc.citation.volumeNumber4
dc.contributor.authorHe, Keliang
dc.contributor.authorLahijanian, Morteza
dc.contributor.authorKavraki, Lydia E.
dc.contributor.authorVardi, Moshe Y.
dc.date.accessioned2019-08-14T14:52:31Z
dc.date.available2019-08-14T14:52:31Z
dc.date.issued2019
dc.description.abstractWhen robotic manipulators perform high-level tasks in the presence of another agent, e.g., a human, they must have a strategy that considers possible interferences in order to guarantee task completion and efficient resource usage. One approach to generate such strategies is called reactive synthesis. Reactive synthesis requires an abstraction, which is a discrete structure that captures the domain in which the robot and other agents operate. Existing works discuss the construction of abstractions for mobile robots through space decomposition; however, they cannot be applied to manipulation domains due to the curse of dimensionality caused by the manipulator and the objects. In this work, we present the first algorithm for automatic abstraction construction for reactive synthesis of manipulation tasks. We focus on tasks that involve picking and placing objects with possible extensions to other types of actions. The abstraction also provides an upper bound on path-based costs for robot actions. We combine this abstraction algorithm with our reactive synthesis planner to construct correct-by-construction plans. We demonstrate the power of the framework on a UR5 robot, completing complex tasks in face of interferences by a human.
dc.identifier.citationHe, Keliang, Lahijanian, Morteza, Kavraki, Lydia E., et al.. "Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis." <i>IEEE Robotics and Automation Lettersﾠ,</i> 4, no. 2 (2019) IEEE: 285-292. https://doi.org/10.1109/LRA.2018.2889191.
dc.identifier.doihttps://doi.org/10.1109/LRA.2018.2889191
dc.identifier.urihttps://hdl.handle.net/1911/106240
dc.language.isoeng
dc.publisherIEEE
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.titleAutomated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
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