Rethinking Motion Generation for Robots Operating in Human Workspaces

This project develops a new motion planning paradigm for enabling robots to work in the presence of humans or cooperatively with humans as co-workers. The paradigm is intended to be fast, reactive, and responsive to the requirements that arise from human-robot interaction. It involves the definition and subsequent implementation of constraints that encode properties of human-aware paths and can be translated to cost functions characterizing path quality. New motion planners are proposed. The operation of these planners is guided by constraints and their corresponding cost functions. The planners produce paths compatible with a given set of constraints. A mechanism to incorporate user feedback on the relative importance of constraints is provided and semi-autonomous operation of the robots is considered. Importantly, the planners are embedded in a novel hybrid-systems framework that allows a robot to automatically switch among planners, and hence behaviors, in order to take into account different constraints and user preferences that arise in the context of semi-autonomous operation. Besides the actual implementation of the planners on specific platforms, this project also disseminates all developed libraries and planners. Compatibility will the Robot Operating System (ROS) is provided for wide adoption, while tutorials at major conferences are planned. The training of graduate students and female undergraduate students are a central focus of this project.

This work has been supported by grant NSF NRI 1317849.

Related Publications

  1. E. Vidal Garcia, M. Moll, N. Palomeras, J. D. Hernández, M. Carreras, and L. E. Kavraki, “Online Multilayered Motion Planning with Dynamic Constraints for Autonomous Underwater Vehicles,” in IEEE Intl. Conf. on Robotics and Automation, 2019. To appear.
    pdf publisher details
    Details
  2. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 285–292, Apr. 2019.
    Details
  3. Y. Wang, S. Chaudhuri, and L. E. Kavraki, “Point-Based Policy Synthesis for POMDPs with Boolean and Quantitative Objectives,” IEEE Robotics and Automation Letters, 2019.
    Details
  4. J. D. Hernández, E. Vidal, M. Moll, N. Palomeras, M. Carreras, and L. E. Kavraki, “Online Motion Planning for Unexplored Underwater Environments using Autonomous Underwater Vehicles,” Journal of Field Robotics, vol. 36, no. 2, pp. 370–396, 2019.
    Details
  5. F. Lagriffoul, N. Dantam, C. Garrett, A. Akbari, S. Srivastava, and L. E. Kavraki, “Platform-Independent Benchmarks for Task and Motion Planning,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3765–3772, Oct. 2018.
    Details
  6. N. T. Dantam, S. Chaudhuri, and L. E. Kavraki, “The Task Motion Kit,” Robotics and Automation Magazine, vol. 25, no. 3, pp. 61–70, Sep. 2018.
    Details
  7. Z. K. Kingston, M. Moll, and L. E. Kavraki, “Sampling-Based Methods for Motion Planning with Constraints,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, pp. 159–185, May 2018.
    Details
  8. Muhayyuddin, M. Moll, L. E. Kavraki, and J. Rosell, “Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments,” IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 712–719, Apr. 2018.
    Details
  9. Y. Wang, S. Chaudhuri, and L. E. Kavraki, “Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives,” in Workshop on the Algorithmic Foundations of Robotics, 2018. To appear.
    pdf publisher details
    Details
  10. È. Pairet, J. D. Hernández, M. Lahijanian, and M. Carreras, “Uncertainty-based Online Mapping and Motion Planning for Marine Robotics Guidance,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, 2018.
    Details
  11. Y. Wang, S. Chaudhuri, and L. E. Kavraki, “Bounded Policy Synthesis for POMDPs with Safe-Reachability Objectives,” in Proceedings of the 17th International Conference on Autonomous Agents and Multiagent Systems, Stockholm, Sweden, 2018, pp. 238–246.
    Details
  12. N. T. Dantam, Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki, “An Incremental Constraint-Based Framework for Task and Motion Planning,” International Journal of Robotics Research, 2018.
    Details
  13. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Reactive Synthesis For Finite Tasks Under Resource Constraints,” in 2017 IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 5326–5332.
    Details
  14. Z. Kingston, M. Moll, and L. E. Kavraki, “Decoupling Constraints from Sampling-Based Planners,” in International Symposium of Robotics Research, Puerto Varas, Chile, 2017.
    pdf publisher details
    Details
  15. W. Baker, Z. Kingston, M. Moll, J. Badger, and L. E. Kavraki, “Robonaut 2 and You: Specifying and Executing Complex Operations,” in IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Austin, TX, 2017.
    Details
  16. S. Butler, M. Moll, and L. E. Kavraki, “A General Algorithm for Time-Optimal Trajectory Generation Subject to Minimum and Maximum Constraints,” in Workshop on the Algorithmic Foundations of Robotics, 2016.
    pdf publisher details
    Details
  17. N. T. Dantam, K. Bøndergaard, M. A. Johansson, T. Furuholm, and L. E. Kavraki, “Unix Philosophy and the Real World: Control Software for Humanoid Robots,” Frontiers in Robotics and Artificial Intelligence, vol. 3, Mar. 2016.
    Details
  18. J. D. Hernández, M. Moll, E. Vidal Garcia, M. Carreras, and L. E. Kavraki, “Planning Feasible and Safe Paths Online for Autonomous Underwater Vehicles in Unknown Environments,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, 2016, pp. 1313–1320.
    Details
  19. N. T. Dantam, Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki, “Incremental Task and Motion Planning: A Constraint-Based Approach,” in Robotics: Science and Systems, 2016.
    Details
  20. M. Lahijanian, M. R. Maly, D. Fried, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative Temporal Planning in Uncertain Environments with Partial Satisfaction Guarantees,” IEEE Transactions on Robotics, vol. 32, no. 3, pp. 583–599, 2016.
    Details
  21. Y. Wang, N. T. Dantam, S. Chaudhuri, and L. E. Kavraki, “Task and Motion Policy Synthesis as Liveness Games,” in International Conference on Automated Planning and Scheduling, 2016, pp. 536–540.
    Details
  22. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Towards Manipulation Planning with Temporal Logic Specifications,” in 2015 IEEE Intl. Conf. Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 346–352.
    Details
  23. M. Lahijanian, S. Almagor, D. Fried, L. E. Kavraki, and M. Y. Vardi, “This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction,” in The Twenty-Ninth AAAI Conference (AAAI-15), Austin, TX, 2015, pp. 3664–3671.
    Details
  24. Z. Kingston, N. Dantam, and L. E. Kavraki, “Kinematically constrained workspace control via linear optimization,” in IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, pp. 758–764.
    Details
  25. M. Moll, I. A. Şucan, and L. E. Kavraki, “Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization,” IEEE Robotics & Automation Magazine (Special Issue on Replicable and Measurable Robotics Research), vol. 22, no. 3, pp. 96–102, 2015.
    Details
  26. D. Coleman, I. A. Şucan, M. Moll, K. Okada, and N. Correll, “Experience-Based Planning with Sparse Roadmap Spanners,” in IEEE Intl. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 900–905.
    Details
  27. D. K. Grady, M. Moll, and L. E. Kavraki, “Extending the Applicability of POMDP Solutions to Robotic Tasks,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 948–961, 2015.
    Details
  28. C. Voss, M. Moll, and L. E. Kavraki, “A Heuristic Approach to Finding Diverse Short Paths,” in IEEE Intl. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4173–4179.
    Details
  29. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Optimal and Efficient Stochastic Motion Planning in Partially-Known Environments,” in The Twenty-Eighth AAAI Conference on Artificial Intelligence, Quebec City, Canada, 2014, pp. 2549–2555.
    Details
  30. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Fast Stochastic Motion Planning with Optimality Guarantees using Local Policy Reconfiguration,” in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3013–3019.
    Details
  31. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Asymptotically Optimal Stochastic Motion Planning with Temporal Goals,” in Workshop on the Algorithmic Foundations of Robotics, Istanbul, Turkey, 2014.
    Details
  32. M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “A Sampling-Based Strategy Planner for Nondeterministic Hybrid Systems,” in International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3005–3012.
    Details
  33. S. Nedunuri, S. Prabhu, M. Moll, S. Chaudhuri, and L. E. Kavraki, “SMT-Based Synthesis of Integrated Task and Motion Plans for Mobile Manipulation,” in IEEE Intl. Conf. on Robotics and Automation, 2014, pp. 655–662.
    Details