NDLI: Task and motion planning using physics-based reasoning

Content Provider	IEEE Xplore Digital Library
Author	Akbari, A. Muhayyuddin Rosell, J.
Copyright Year	2015
Description	Author affiliation: Inst. of Ind. & Control Eng., Univ. Politcnica de Catalunya - Barcelona Tech, Barcelona, Spain (Akbari, A.; Muhayyuddin; Rosell, J.)
Abstract	For everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative plans may exist, the determination of their feasibility and the identification of the best one is a great challenge in robotics. To address this, this paper proposes: a) a version of GraphPlan (one of the best current approaches to task planning) that has been modified to use ontological knowledge and to allow the retrieval of all possible plans; and b) a physics-based reasoning process that determines the feasibility of the resulting plans and an associated cost that allows to select the best one among them. The proposed framework has been implemented and is illustrated through an example.
Starting Page	1
Ending Page	7
File Size	907956
Page Count	7
File Format	PDF
e-ISBN	9781467379298
DOI	10.1109/ETFA.2015.7301471
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-08
Publisher Place	Luxembourg
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Robots Cognition Ontologies OWL Heuristic algorithms Force Manipulation Task planning Physics-based motion planning Reasoning
Content Type	Text
Resource Type	Article

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