Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis
Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis
复制标题
基于成本的反应合成的操作域的自动抽象
DOI：
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发表时间：
2019
影响因子：
5.2
通讯作者：
Moshe Y. Vardi
中科院分区：
文献类型：
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作者：
Keliang He;Morteza Lahijanian;L. Kavraki;Moshe Y. Vardi
当机器人操纵器在另一个代理（例如人类）存在的情况下执行高级任务时，他们必须有一种策略来考虑可能的干扰，以确保任务完成和有效的资源使用情况。产生此类策略的一种方法称为反应性合成。反应性合成需要抽象，这是一种离散的结构，可捕获机器人和其他试剂在其中运行的域。现有作品通过太空分解讨论了用于移动机器人的抽象构建；但是，由于操纵器和对象引起的维数的诅咒，它们不能应用于操纵域。在这项工作中，我们介绍了第一种用于自动抽象构建的算法，用于反应性合成操纵任务。我们专注于涉及挑选和放置具有可能扩展到其他类型动作的对象的任务。抽象还为机器人动作的基于路径的成本提供了上限。我们将这种抽象算法与我们的反应性合成计划者结合起来，以构建正确的构造计划。我们在UR5机器人上演示了框架的力量，面对人类的干扰，完成了复杂的任务。
When 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.