Reactive high-level behavior synthesis for an Atlas humanoid robot

Maniatopoulos, Spyros; Schillinger, Philipp; Pong, Vitchyr; Conner, David C.; Kress-Gazit, Hadas

doi:10.1109/icra.2016.7487613

Cited by 38 publications

(22 citation statements)

References 20 publications

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“…Closing the loop using sensing made exploration and reconfiguration significantly less vulnerable to error. Future systems could be made more robust by introducing more feedback from low-level components to high-level decisions making processes, and by incorporating existing high-level failure-recovery frameworks [24]. Distributed repair strategies could also be explored, to replace malfunctioning modules with nearby working ones on the fly [25].…”

Section: Discussionmentioning

confidence: 99%

An integrated system for perception-driven autonomy with modular robots

et al. 2018

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The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field.We present a modular robot system capable of autonomously completing highlevel tasks by reactively reconfiguring to meet the needs of a perceived, a priori unknown environment. The system integrates perception, high-level planning, and modular hardware, and is validated in three hardware demonstrations. Given a high-level task specification, a modular robot autonomously explores an unknown environment, decides when and how to reconfigure, and manipulates objects to complete its task.The system architecture balances distributed mechanical elements with centralized perception, planning, and control. By providing an example of how a modular robot system can be designed to leverage reactive reconfigurability in unknown environments, we have begun to lay the groundwork for modular self-reconfigurable robots to address tasks in the real world. arXiv:1709.05435v2 [cs.RO] 13 Dec 2018Modular self-reconfigurable robot (MSRR) systems are composed of repeated robot elements (called modules) that connect together to form larger robotic structures, and can self-reconfigure, changing the connective arrangement of their own modules to form different structures with different capabilities. Since the field was in its nascence, researchers have presented a vision that promised flexible, reactive systems capable of operating in unknown environments. MSRRs would be able to enter unknown environments, assess their surroundings, and self-reconfigure to take on a form suitable to the task and environment at hand [1]. Today, this vision remains a major motivator for work in the field [2].Continued research in MSRR has resulted in substantial advancement. Existing research has demonstrated MSRR self-reconfiguring, assuming interesting morphologies, and exhibiting various forms of locomotion, as well as methods for programming, controlling, and simulating modular robots [1,3,4,5,6,7,8,9,10,11,12,13,14,15]. However, achieving autonomous operation of a self-reconfigurable robot in unknown environments requires a system with the ability to explore, gather information about the environment, consider the requirements of a high-level task, select configurations whose capabilities match the requirements of task and environment, transform, and perform actions (such as manipulating objects) to complete tasks. Existing systems provide partial sets of these capabilities. Many systems have demonstrated limited autonomy, relying on beacons for mapping [16,17] and human input for high-level decision making [18,19]. Others have demonstrated swarm self-assembly to address basic tasks such as hill-climbing and gap-crossing [20,21]. While these existing systems all represent advancements, none have demonstrated fully autonomous, reactive self-reconfiguration to address high-level tasks.This paper presents a system allowing modular robots to complet...

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Section: Discussionmentioning

confidence: 99%

An integrated system for perception-driven autonomy with modular robots

et al. 2018

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“…where v 2 is as defined in (3). We desire that the robot always eventually drops off completed work at the Inventory Station.…”

Section: B Reactive Synthesismentioning

confidence: 99%

“…Reactive synthesis has been applied in contexts where disturbances are unavoidable, such as the DARPA Robotics Challenge [3] and other challenging setups [4], to provide formal guarantees for specification realizability. There is a gap in robotics and formal method literature with respect to applying these methods to direct human-robot interaction (HRI).…”

Section: Introductionmentioning

confidence: 99%

Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions

Schlossman

Kim

Topcu

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing formal guarantees for specification satisfaction. There is potential to apply these techniques for devising robot controllers whose specifications are coupled with human needs. This paper explores the use of formal methods to construct human-aware robot controllers to support the productivity requirements of humans. We tackle these types of scenarios via human workload-informed models and reactive synthesis. This strategy allows us to synthesize controllers that fulfill formal specifications that are expressed as linear temporal logic formulas. We present a case study in which we reason about a work delivery and pickup task such that the robot increases worker productivity, but not stress induced by high work backlog. We demonstrate our controller using the Toyota HSR, a mobile manipulator robot. The results demonstrate the realization of a robust robot controller that is guaranteed to properly reason and react in collaborative tasks with human partners.

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“…The complexity of synthesis for the GR(1) fragment scales as cubic or quadratic depending on the algorithms used for synthesis [2] . Tractability has enabled use of the GR(1) fragment for robotics applications [7,11,18,22].…”

Section: Introductionmentioning

confidence: 99%

Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States

Dathathri

Filippidis

Murray

2019

Springer Proceedings in Advanced Robotics

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For the synthesis of correct-by-construction control policies from temporal logic specifications the scalability of the synthesis algorithms is often a bottleneck. In this paper, we parallelize synthesis from specifications in the GR(1) fragment of linear temporal logic by introducing a hierarchical procedure that allows decoupling of the fixpoint computations. The state space is partitioned into equicontrollable sets using solutions to parametrized games that arise from decomposing the original GR(1) game into smaller reachability-persistence games. Following the partitioning, another synthesis problem is formulated for composing the strategies from the decomposed reachability games. The formulation guarantees that composing the synthesized controllers ensures satisfaction of the given GR(1) property. Experiments with robot planning problems demonstrate good performance of the approach.

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Reactive high-level behavior synthesis for an Atlas humanoid robot

Cited by 38 publications

References 20 publications

An integrated system for perception-driven autonomy with modular robots

An integrated system for perception-driven autonomy with modular robots

Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions

Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States

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