NDLI: Autonomous planning for mobile manipulation services based on multi-level robot skills

Content Provider	IEEE Xplore Digital Library
Author	Weser, M. Jianwei Zhang
Copyright Year	2009
Description	Author affiliation: TAMS - Technical Aspects of Multimodal Systems, Department of Informatics, Hamburg University, Vogt-Kölln-Strasse 30, 22527, Germany (Weser, M.; Jianwei Zhang)
Abstract	General purpose service robots are expected to deal with many different tasks in unknown environments. The number of possible tasks and changing situations prevent developers from writing control programs for all tasks and possible situations. Complex robot tasks are thus accomplished by sequential execution of less complex robot actions that are triggered and configured by a task planner. The question of the appropriate abstraction level of robot actions is still being researched and not discussed conclusively. In this paper, we address the problem of atomicity of robot actions and provide some key properties that have to be considered while designing plan-based robot control systems. Based on these properties, we define and implement atomic skills of different abstraction level for the service robot TASER. The HTN planner JShop2 is used to complete the plan-based control architecture which is evaluated in a set of experiments.
Starting Page	1999
Ending Page	2004
File Size	517748
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5353901
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Robot control Robot kinematics Service robots Cognitive robotics Intelligent robots Control systems Orbital robotics Process planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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