synthesis and robotics · synthesis and robotics hadas kress-gazit sibley school of mechanical and...
TRANSCRIPT
Synthesis and Robotics
Hadas Kress-Gazit Sibley School of Mechanical and Aerospace Engineering
Cornell University
[email protected] Joint work (this talk) with: Jim Jing, Ben Johnson, Cameron Finucane,
Nir Piterman and Vasu Raman
• “Drive around the city and obey traffic laws. Do not hurt anyone or anything”
• Teams of engineers
from industry and academia and…
Jalopnik.com TerraMax at DUC – from flickr (kwc)
DUC highlights
• “Go fetch me a beer”
• Week long hackathon at Willow Garage
Willow garage blog
Specifications (“What”)
Implementation (“How”)
Testing (“Works?”)
Control (probably works)
Now
Specifications (“What”)
Implementation (“How”)
Testing (“Works?”)
Control (works!)
In the (near) future
Automatic Correct-by-construction
synthesis
Jing, Finucane, Raman and KG, ICRA 2012
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Automatic Provably correct
Synthesize provably correct solution
Discrete specification and model
Discrete Abstraction
Continuous implementation of solution
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Synthesize provably correct solution
Discrete specification and model
Discrete Abstraction
Continuous implementation of solution
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Reactive to the environment
Synthesize provably correct solution
Discrete specification and model
Discrete Abstraction
Continuous implementation of solution
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Reactive to the environment
Sensor abstraction, atomic controllers
Synthesize provably correct solution
Discrete specification and model
Discrete Abstraction
Continuous implementation of solution
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Reactive to the environment
Sensor abstraction, atomic controllers
Linear Temporal Logic, (Structured) language
Structured English Grammar
KG, Fainekos and Pappas, Advanced Robotics 2008, KG and Pappas ICRA 2010
Synthesize provably correct solution
Discrete specification and model
Discrete Abstraction
Continuous implementation of solution
Continuous task (motion and action of a robot)
Sensing and Control for the robot
Reactive to the environment
Sensor abstraction, atomic controllers
Linear Temporal Logic, (Structured) language
LTL synthesis, probabilistic model checking
Hybrid controller
(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
Human controlling a robot
Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
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
Human controlling a robot
Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
Human controlling a robot
Raman and KG: CAV 2011, ICRA 2012, IEEE TRO
Correct Controller
Correct Behavior
High-Level Tasks
EnvironmentModel
Robot Abstraction
EnvironmentPerfect Sensors
Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
Human controlling a robot
Correct Controller
?
High-Level Tasks
EnvironmentModel
Robot Abstraction
EnvironmentImperfect Sensors
Human controlling a robot
Φ X Y
Controller Synthesis
DTMC Construction
R s.t. E R Φ
ProbabilisticModel Checker Φ
E, E
P( E R Φ)
Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
Human controlling a robot
Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
Human controlling a robot
Johnson and KG, RSS 2011, Johnson, Havlak, Campbell and KG, ICRA 2012
Human controlling a robot
Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
Human controlling a robot
Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
Human controlling a robot
Raman, Finucane and KG, IROS 2012, Raman, Piterman and KG, ICRA 2013 (To appear)
Option 1: Actions end together
Human controlling a robot
Raman, Finucane and KG, IROS 2012
Option 2: Actions start together
Human controlling a robot
Raman, Piterman and KG, ICRA 2013 (To appear)
Option 3: Model activation and completion of Actions
LTLMoP
• Linear Temporal Logic MissiOn Planner • Use structured English to control a robot • Python-based • Modular • Integrates with simulators (Gazebo) and
physical robots • http://ltlmop.github.com/
Robot waiter scenario – hot off the press