As human-robot collaboration is scaled up to more and more complex tasks, there is an increased need for formally modeling the system formed by human and robotic agents. Such modeling enables reasoning about reliability, safety, correctness, and scalability of the system. The modeling, however, presents a daunting task. This research aspires to formally model scenarios where the robot and the human can have varying roles. The intent is to develop scalable methodologies that will endow the robot with the ability to adapt to human actions and preferences without changes to its underlying software or hardware.
The project is a critical step towards making robots collaborative with and responsive to humans while allowing the human to be in control. This research will develop a framework for human-robot collaboration that integrates reactive synthesis from formal methods with robotic planning methods. By tightly combining the development of synthesis methods with robotics, it will pursue the development of a framework that is intuitive and scalable. The focus is on task-level collaboration as opposed to physical interaction with a human.
2024
-
K. Muvvala, A. Wells, M. Lahijanian, L. Kavraki, and M. Vardi, “Stochastic Games for Interactive Manipulation Domains,” in 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024.
2023
-
K. Muvvala and M. Lahijanian, “Efficient Symbolic Approaches for Quantitative Reactive Synthesis with Finite Tasks,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 8666–8672.
2022
-
K. Muvvala, P. Amorese, and M. Lahijanian, “Let’s Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation,” in 2022 IEEE Conference on Robotics and Automation (ICRA), 2022, pp. 4340–4346.
2021
-
K. Muvvala and M. Lahijanian, “Reactive Synthesis for Human-aware Robotic Manipulation using Regret Games,” in RSS Workshop on Robotics for People: Perspectives on Interaction, Learning and Safety, 2021.
-
A. M. Wells, Z. Kingston, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Finite Horizon Synthesis for Probabilistic Manipulation Domains,” in International Conference on Robotics and Automation (ICRA), Xi’an, China, 2021.
2018
-
K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 285–292, 2018.
2015
-
K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Towards Manipulation Planning with Temporal Logic Specifications,” in Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA, 2015, pp. 346–352.