可采纳性胜于必胜：机器人反应式合成的新方法
Admissibility Over Winning: A New Approach to Reactive Synthesis in Robotics
AI总结：
针对机器人反应式合成中必胜策略不存在的问题，提出基于可采纳性的可采纳理性策略及高效合成算法，使机器人在无必胜策略时仍能尝试任务并表现出合作与不违规行为。
摘要：
反应式合成是机器人中建模并自动合成策略的框架，通常通过计算机器人与环境之间的双人博弈中的必胜策略来实现。然而，即使在一些简单情况下，必胜策略也并不总是存在。在这种情况下，仍然希望机器人尝试其任务而不是“放弃”。在这项工作中，我们探索了可采纳性的概念，以定义超越必胜的策略，专门为机器人系统量身定制。我们引入了可采纳策略的排序，并定义了可采纳理性策略，该策略旨在可能时追求必胜与合作，在必要时做到不违规且充满希望。我们提出了一种高效的合成算法，并通过案例研究证明，可采纳理性策略能产生令人满意的行为。
英文摘要：
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies, however, do not always exist, even in some simple cases. In such situations, it is still desirable for the robot to attempt its task rather than "giving up". In this work, we explore the notion of admissibility to define strategies beyond winning, tailored specifically for robotic systems. We introduce an ordering of admissible strategies and define \emph{admissibly rational strategies}, which aim to be winning and cooperative when possible, and non-violating and hopeful when necessary. We present an efficient synthesis algorithm and demonstrate that admissibly rational strategies produce desirable behaviors through case studies.
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