Quantitative Reactive Synthesis for Manipulators via Games

Manipulators are becoming ubiquitous from industries to commercial applications. As such these robots are either manually operated or autonomous in highly restricted and well-defined environments and are extremely susceptible to changes in the environment - due to human intervention or any other external factor. This study focuses on developing a strategy for the robot to achieve a complex task. The synthesized strategy generates controllers for the robot in reaction to human interventions that cause changes in the environment . This strategy also accounts for the resource constraints of the robot such as time and energy. Using methods derived from formal methods and games we can then define quantitative safety-critical guarantees with optimal strategies.