軌道最適化と記号的修復による地形適応歩行のための物理的に実行可能なリアクティブ合成
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
記号レベルのリアクティブ合成と混合整数凸計画を組み合わせ、動的に変化する未知地形での四足歩行の足場計画をオンラインで生成・修復する枠組みを提案した。
著者: Ziyi Zhou, Qian Meng, Hadas Kress-Gazit, Ye Zhao
分類: cs.RO
原文アブストラクト
We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneous foothold selection--compromising safety and versatility--or solve expensive trajectory optimization problems with complex terrain features and long time horizons. In contrast, our framework leverages reactive synthesis to generate correct-by-construction controllers at the symbolic level, and mixed-integer convex programming (MICP) for dynamic and physically feasible footstep planning for each symbolic transition. We use a high-level manager to reduce the large state space in synthesis by incorporating local environment information, improving synthesis scalability. To handle specifications that cannot be met due to dynamic infeasibility, and to minimize costly MICP solves, we leverage a symbolic repair process to generate only necessary symbolic transitions. During online execution, re-running the MICP with real-world terrain data, along with runtime symbolic repair, bridges the gap between offline synthesis and online execution. We demonstrate, in simulation, our framework's capabilities to discover missing locomotion skills and react promptly in safety-critical environments, such as scattered stepping stones and rebars.
