(Georgia Institute of Technology, 2013-06)
Dantam, Neil; Stilman, Mike
We present the Motion Grammar: an approach to
represent and verify robot control policies based on Context-Free
Grammars. The production rules of the grammar represent a
top-down task decomposition of robot behavior. The terminal
symbols of this language represent sensor readings that are
parsed in real-time. Efficient algorithms for context-free parsing
guarantee that online parsing is computationally tractable. We
analyze verification properties and language constraints of this
linguistic modeling approach, show a linguistic basis that unifies
several existing methods, and demonstrate effectiveness through
experiments on a 14-DOF manipulator interacting with 32 objects
(chess pieces) and an unpredictable human adversary. We provide
many of the algorithms discussed as Open Source, permissively
licensed software. ¹