  Correct-by-construction manipulation planning in a dynamic environment, where
other agents can manipulate objects in the workspace, is a challenging problem.
The tight coupling of actions and motions between agents and complexity of
mission specifications makes the problem computationally intractable.
  This paper presents a reactive integrated mission and motion planning for
mobile-robot manipulator systems operating in a partially known environment. We
introduce a multi-layered synergistic framework that receives high-level
mission specifications expressed in linear temporal logic and generates
dynamically-feasible and collision-free motion trajectories to achieve it. In
the high-level layer, a mission planner constructs a symbolic two-player game
between the robots and their environment to synthesis a strategy that adapts to
changes in the workspace imposed by other robots. A bilateral synergistic layer
is developed to map the designed mission plan to an integrated task and motion
planner, constructing a set of robot tasks to move the objects according to the
mission strategy. In the low-level planning stage, verifiable motion
controllers are designed that can be incrementally composed to guarantee a safe
motion planning for each high-level induced task. The proposed framework is
illustrated with a multi-robot warehouse example with the mission of moving
objects to various locations.
