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Maximally Satisfying LTL Action Planning
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-4173-2593
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-9362-0644
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE , 2014, 1503-1510 p.Conference paper, Published paper (Refereed)
Abstract [en]

We focus on autonomous robot action planning problem from Linear Temporal Logic (LTL) specifications, where the action refers to a "simple" motion or manipulation task, such as "go from A to B" or "grasp a ball". At the high-level planning layer, we propose an algorithm to synthesize a maximally satisfying discrete control strategy while taking into account that the robot's action executions may fail. Furthermore, we interface the high-level plan with the robot's low-level controller through a reactive middle-layer formalism called Behavior Trees (BTs). We demonstrate the proposed framework using a NAO robot capable of walking, ball grasping and ball dropping actions.

Place, publisher, year, edition, pages
IEEE , 2014. 1503-1510 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Intelligent robots, Robots, Temporal logic, Action execution, Action planning, Behavior trees, Discrete control strategies, Linear temporal logic specifications, Low-level controllers, Manipulation task, Robot actions
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-163507DOI: 10.1109/IROS.2014.6942755ISI: 000349834601089Scopus ID: 2-s2.0-84911499807ISBN: 978-1-4799-6934-0 (print)OAI: oai:DiVA.org:kth-163507DiVA: diva2:800728
Conference
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Palmer House Hilton Hotel Chicago, United States, 14 September 2014 through 18 September 2014
Note

QC 20150407

Available from: 2015-04-07 Created: 2015-04-07 Last updated: 2017-03-22Bibliographically approved
In thesis
1. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Open this publication in new window or tab >>Flexible Robot to Object Interactions Through Rigid and Deformable Cages
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. We focus on the secure kind of flexible interactions, commonly referred to as caging grasps. In this context, the adjective secure implies that the object is not able to escape arbitrarily far away from the robot which is caging it. A cage is a secure flexible interaction because it does not immobilize the object, but restricts its motion to a finite set of possible configurations. We study cages in two novel scenarios for objects with holes: caging through multi-agent cooperation and through dual-arm knotting with a rope. From these two case studies, we were able to analyze the caging problem in a broader perspective leading to the definition of a hierarchical classification of flexible interactions and cages.

In parallel to the geometric and physical problem of flexible interactions with objects, we study also the problem of discrete action scheduling through a novel control architecture called Behavior Trees (BTs). In this thesis we propose a formulation that unifies the competing BT philosophies into a single framework. We analyze how the mainstream BT formulations differ from each other, as well as their benefits and limitations. We also compare the plan representation capabilities of BTs with respect to the traditional approach of Controlled Hybrid Dynamical Systems (CHDSs). In this regard, we present bidirectional translation algorithms between such representations as well as the necessary and sufficient conditions for translation convergence. Lastly, we demonstrate our action scheduling BT architecture showcasing the aforementioned caging scenarios, as well as other examples that show how BTs can be interfaced with other high level planners.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2017. 145 p.
Series
TRITA-CSC-A, ISSN 1653-5723 ; 2017:08
Keyword
planning, control, perception, caging, cage, grasping, multi-agent, robot, robotic, knot, knotting, behaviour trees, behavior trees, action scheduling, RRT
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-203994 (URN)978-91-7729-316-3 (ISBN)978-91-7729-316-3 (ISBN)
Public defence
2017-04-10, F3, Lindstedtsvägen 26, KTH Campus., Stockholm, 14:00 (English)
Opponent
Supervisors
Funder
EU, FP7, Seventh Framework Programme, 600825
Note

QC 20170322

Available from: 2017-03-22 Created: 2017-03-21 Last updated: 2017-03-22Bibliographically approved

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Tumova, JanaMarzinotto, AlejandroDimarogonas, Dimos V.Kragic, Danica

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