Slugs: Extensible Gr(1) Synthesis

Applying reactive synthesis in practice often requires modifications of the synthesis algorithm in order to obtain useful implementations. We present slugs, a generalized reactivity(1) synthesis tool that has a powerful plugin architecture for modifying any aspect of the synthesis process to fit the application. Slugs comes pre-equipped with a variety of plugins that improve the quality of the synthesized solutions along criteria such as quick response, cost-optimality, and error-resilience. We demonstrate the utility and scalability of the tool on an example from robotics.