Oxford logo
[HLK+17] Keling He and Morteza Lahijanian and Lydia E. Kavraki and Moshe Y. Vardi. Reactive Synthesis for Finite Tasks Under Resource Constraints. In International Conference on Intelligent Robots and Systems (IROS), IEEE. September 2017. [pdf] [bib]
Downloads:  pdf pdf (569 KB)  bib bib
Abstract. There are many applications where a robot has to operate in an environment that other agents can change. In such cases, it is desirable for the robot to achieve a 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 temporal logic (LTLf) 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.