SHF: Medium: Automating robot programming through constraint solving and motion planning

SHF：中：通过约束求解和运动规划实现机器人编程自动化

• 批准号: 1514372
• 负责人: Lydia Kavraki
• 金额: $ 80万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-07-01 至 2021-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1514372&HistoricalAwards=false
• 关键词: SHF; Medium; Automating; robot; programming

The project aims to develop a high-level programming framework, called Robosynth, for personal robots. Here, rather than writing low-level code that defines how a robot must perform a task, the user of the robot writes a specification that defines what is to be accomplished. Given this specification and a model of the robot's environment, Robosynth automatically synthesizes a program that can be executed on the robot. So long as the environment behaves according to the assumed model, all executions of this program are guaranteed to satisfy the user-defined requirements.This approach and its derivatives can make robot programming accessible to a vast untapped body of inexperienced programmers.The technical highlights of the project are the specification language using which users interact with Robosynth, and the algorithms that Robosynth uses for automatic code synthesis. These algorithms simultaneously reason about a logical task level that is concerned with the high-level goals of the robot, as well as a continuous motion level concerned with navigating and manipulating a physical space. At the task level, Robosynth leverages recent methods for analyzing complex systems of logical constraints, for example SMT-solving and symbolic solution of graph games. Motion-level reasoning is performed using sampling-based motion planning techniques.

该项目旨在为个人机器人开发一个名为Robosynth的高级编程框架。在这里，不是编写低级代码来定义机器人必须如何执行任务，而是由机器人的用户编写规范来定义要完成的任务。给定这个规范和机器人环境的模型，Robosynth自动合成一个可以在机器人上执行的程序。只要环境的行为符合假定的模型，该程序的所有执行都保证满足用户定义的需求。这种方法及其衍生产品可以让大量没有经验的程序员也能接触到机器人编程。该项目的技术亮点是用户与Robosynth交互使用的规范语言，以及Robosynth用于自动代码合成的算法。这些算法同时推理与机器人的高级目标有关的逻辑任务级别，以及与导航和操纵物理空间有关的连续运动级别。在任务层面，Robosynth利用了最近的方法来分析逻辑约束的复杂系统，例如smt求解和图形游戏的符号解。运动级推理使用基于采样的运动规划技术进行。