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W2967324402 abstract "When humans and robots perform complex tasks together, the robot must have a strategy to choose its actions based on observed human behavior. One well-studied approach for finding such strategies is reactive synthesis. Existing approaches for finite-horizon tasks have used an explicit state approach, which incurs high runtime. In this work, we present a compositional approach to perform synthesis for finite-horizon tasks based on binary decision diagrams. We show that for pick-and-place tasks, the compositional approach achieves orders-of-magnitude speed-ups compared to previous approaches. We demonstrate the synthesized strategy on a UR5 robot." @default.
W2967324402 created "2019-08-22" @default.
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W2967324402 date "2019-05-01" @default.
W2967324402 modified "2023-09-29" @default.
W2967324402 title "Efficient Symbolic Reactive Synthesis for Finite-Horizon Tasks" @default.
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W2967324402 doi "https://doi.org/10.1109/icra.2019.8794170" @default.
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