  The aim of this work is to address issues where formal specifications cannot
be realized on a given dynamical system subjected to a changing environment.
Such failures occur whenever the dynamics of the system restrict the robot in
such a way that the environment may prevent the robot from progressing safely
to its goals. We provide a framework that automatically synthesizes revisions
to such specifications that restrict the assumed behaviors of the environment
and the behaviors of the system. We provide a means for explaining such
modifications to the user in a concise, easy-to-understand manner. Integral to
the framework is a new algorithm for synthesizing controllers for reactive
specifications that include a discrete representation of the robot's dynamics.
The new approach is demonstrated with a complex task implemented using a
unicycle model.
