Synthesis and Robotics Hadas Kress-Gazit Sibley School of Mechanical and Aerospace Engineering Cornell University
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1 Synthesis and Robotics Hadas Kress-Gazit Sibley School of Mechanical and Aerospace Engineering Cornell University Joint work (this talk) with: Jim Jing, Ben Johnson, Cameron Finucane, Nir Piterman and Vasu Raman
2 Drive around the city and obey traffic laws. Do not hurt anyone or anything Teams of engineers from industry and academia and DUC highlights Jalopnik.com TerraMax at DUC from flickr (kwc)
3 Go fetch me a beer Willow garage blog Week long hackathon at Willow Garage
4 Now Specifications ( What ) Implementation ( How ) Testing ( Works? ) Control (probably works)
5 In the (near) future Specifications ( What ) Implementation ( How ) Automatic Correct-by-construction Testing synthesis ( Works? ) Control (works!)
6 Jing, Finucane, Raman and KG, ICRA 2012
7 Continuous task (motion and action of a robot) Automatic Provably correct Sensing and Control for the robot
8 Continuous task (motion and action of a robot) Discrete Abstraction Discrete specification and model Synthesize provably correct solution Continuous implementation of solution Sensing and Control for the robot
9 Continuous task (motion and action of a robot) Reactive to the environment Discrete Abstraction Discrete specification and model Synthesize provably correct solution Continuous implementation of solution Sensing and Control for the robot
10 Continuous task (motion and action of a robot) Reactive to the environment Discrete Abstraction Sensor abstraction, atomic controllers Discrete specification and model Synthesize provably correct solution Continuous implementation of solution Sensing and Control for the robot
11 Continuous task (motion and action of a robot) Reactive to the environment Discrete Abstraction Sensor abstraction, atomic controllers Discrete specification and model Linear Temporal Logic, (Structured) language Synthesize provably correct solution Continuous implementation of solution Sensing and Control for the robot
12 Structured English Grammar KG, Fainekos and Pappas, Advanced Robotics 2008, KG and Pappas ICRA 2010
13 Continuous task (motion and action of a robot) Reactive to the environment Discrete Abstraction Sensor abstraction, atomic controllers Discrete specification and model Linear Temporal Logic, (Structured) language Synthesize provably correct solution LTL synthesis, probabilistic model checking Continuous implementation of solution Hybrid controller Sensing and Control for the robot
14 (Partial) Related work Robot Control from Temporal Logic specifications: Kavraki and Vardi, Belta, Karaman and frazzoli, Fainekos, Wongpiromsarm Topcu and Murray,, Symbolic control, languages and grammars for control: Egerstedt, Frazzoli and Dahleh, Klavins, Stilman, Tanner, Hybrid systems Formal methods synthesis Planning community
15 Human controlling a robot Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
16 Human controlling a robot Specification Unsatisfiable: Start in Deck. Always stay there. go to kitchen. Specification Unrealizable: Start in Deck. If you see a person stay there. go to kitchen. Trivial solution: Always person and not person. Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
17 Human controlling a robot Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
18 Human controlling a robot Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
19 Human controlling a robot High-Level Tasks Environment Model Robot Abstraction Correct Controller Correct? Behavior Imperfect Perfect Sensors Environment Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
20 Human controlling a robot Φ X Y Controller Synthesis R s.t. E R Φ DTMC Construction E, E Probabilistic Model Checker Φ P( E R Φ) Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
21 Human controlling a robot Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
22 Human controlling a robot Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
23 Human controlling a robot Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
24 Human controlling a robot Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
25 Human controlling a robot Option 1: Actions end together Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
26 Human controlling a robot Option 2: Actions start together Raman, Finucane and KG, IROS 2012
27 Human controlling a robot Option 3: Model activation and completion of Actions Raman, Piterman and KG, ICRA 2013 (To appear)
28 LTLMoP Linear Temporal Logic MissiOn Planner Use structured English to control a robot Python-based Modular Integrates with simulators (Gazebo) and physical robots
29 Robot waiter scenario hot off the press
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