K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Reactive Synthesis For Finite Tasks Under Resource Constraints,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 5326–5332.
There are many applications where robots have to operate in environments that other agents can change. In such cases, it is desirable for the robot to achieve a given high- level task despite interference. Ideally, the robot must decide its next action as it observes the changes in the world, i.e. act reactively. In this paper, we consider a reactive planning problem for finite robotic tasks with resource constraints. The task is represented using a temporal logic for finite behaviors and the robot must achieve the task using limited resources under all possible finite sequences of moves of other agents. We present a formulation for this problem and an approach based on quantitative games. The efficacy of the approach is demonstrated through a manipulation case study.
Publisher: http://dx.doi.org/10.1109/IROS.2017.8206426
PDF preprint: http://kavrakilab.org/publications/he-lahijanian2017reactive-manipulation.pdf