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Dynamics-Driven Adaptive Abstraction for Reactive High-Level Mission and Motion Planning

DeCastro, Jonathan A. and Raman, Vasumathi and Kress-Gazit, Hadas (2015) Dynamics-Driven Adaptive Abstraction for Reactive High-Level Mission and Motion Planning. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 369-376. ISBN 9781479969241.

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We present a new framework for reactive synthesis that considers the dynamics of the robot when synthesizing correct-by-construction controllers for nonlinear systems. Many high-level synthesis approaches employ discrete abstractions to reason about the dynamics of the continuous system in a simplified manner. Often, these abstractions are expensive to compute. We circumvent the need to have detailed abstractions for nonlinear systems by proposing a framework for adapting abstractions based on partial solutions to the low-level controller synthesis problem. The contribution of this paper is a reactive synthesis algorithm that makes use of our adaptation procedure to update the high-level strategy each time the non-deterministic discrete abstraction is modified. We combine this with a verified low-level controller synthesis scheme capable of automatically synthesizing controllers for a wide class of nonlinear systems. This novel synthesis framework is demonstrated on a dynamical robot executing an autonomous inspection task.

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Additional Information:© 2015 IEEE. J.A. DeCastro and H. Kress-Gazit are supported in part by NSF Expeditions in Computer Augmented Program Engineering (ExCAPE). V. Raman is supported in part by TerraSwarm.
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Record Number:CaltechAUTHORS:20160325-091807071
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Official Citation:J. A. DeCastro, V. Raman and H. Kress-Gazit, "Dynamics-driven adaptive abstraction for reactive high-level mission and motion planning," Robotics and Automation (ICRA), 2015 IEEE International Conference on, Seattle, WA, 2015, pp. 369-376. doi: 10.1109/ICRA.2015.7139025
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:65674
Deposited By: Ruth Sustaita
Deposited On:25 Mar 2016 17:06
Last Modified:03 Oct 2019 09:49

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