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dc.contributor.advisor Chaudhuri, Swarat
dc.creatorWang, Yue
dc.date.accessioned 2016-02-05T21:46:36Z
dc.date.available 2016-02-05T21:46:36Z
dc.date.created 2015-12
dc.date.issued 2016-01-26
dc.date.submitted December 2015
dc.identifier.citation Wang, Yue. "A Constraint-Based Approach to Reactive Task and Motion Planning." (2016) Master’s Thesis, Rice University. https://hdl.handle.net/1911/88419.
dc.identifier.urihttps://hdl.handle.net/1911/88419
dc.description.abstract This thesis presents a novel and scalable approach for Reactive Task and Motion Planning. We consider changing environments with uncontrollable agents, where the robot needs a policy to respond correctly in the infinite interaction with the environment. Our approach operates on task and motion domains that combine actions over discrete states with continuous, collision-free paths. We synthesize a policy by iteratively verifying and searching for a policy candidate. For efficient verification, we employ Satisfiability Modulo Theories (SMT) solvers using a new extension of proof rules for Temporal Property Verification. For efficient policy search, we apply domain-specific heuristics to generalize verification failures. Furthermore, the SMT solver enables quantitative specifications such as energy limits. We benchmark our policy synthesizer in a mobile manipulation domain, showing that our approach offers better scalability compared to a state-of-the-art robotic synthesis tool in the tested benchmarks and demonstrating order-of-magnitude speedup from our heuristics.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectConstraint-based approaches
Reactive synthesis
Syntax-guided synthesis
Mobile manipulation
dc.title A Constraint-Based Approach to Reactive Task and Motion Planning
dc.contributor.committeeMember Kavraki, Lydia E
dc.contributor.committeeMember Vardi, Moshe Y
dc.date.updated 2016-02-05T21:46:36Z
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Computer Science
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science


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