NDLI: A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction

Content Provider	IEEE Xplore Digital Library
Author	de Silva, L. Gharbi, M. Pandey, A.K. Alami, R.
Copyright Year	2014
Description	Author affiliation: LAAS, Toulouse, France (de Silva, L.; Gharbi, M.; Pandey, A.K.; Alami, R.)
Abstract	Bridging the gap between symbolic and geometric planning has received much attention in recent years. An important issue in some of the works that combine the two approaches is finding the right balance between backtracking at the symbolic level versus at the geometric planning level. We present in this work a new approach to interleaved backtracking, where the symbolic planner backtracks to try alternative action branches that naturally map to different geometric solutions. This eliminates the need to “protect” certain symbolic conditions when backtracking at the geometric level, and addresses a completeness issue in our previous approach to interleaved backtracking. We discuss a concrete, non-trivial symbolic-geometric planning example in the context of Human-Robot Interaction, a full implementation of the combined planning technique, and an evaluation of performance as well as the effect of increasing the symbolic-action branching factor.
Starting Page	3757
Ending Page	3763
File Size	760436
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907403
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Abstracts Trajectory Libraries Robots Context Applicators
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An interface for interleaved symbolic-geometric planning and backtracking

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

User-centered approach to path planning of cleaning robots: Analyzing user's cleaning behavior

A novel approach to smooth trajectory planning of a mobile robot

Time-critical trajectory planning for a car-like robot in unknown environments

Geometric reasoning planning in the context of Human-Robot Interaction

Context-based perception and understanding of human intentions

A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction

Similar Documents

An interface for interleaved symbolic-geometric planning and backtracking

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search.

User-centered approach to path planning of cleaning robots: Analyzing user's cleaning behavior

A novel approach to smooth trajectory planning of a mobile robot

Time-critical trajectory planning for a car-like robot in unknown environments

Geometric reasoning planning in the context of Human-Robot Interaction

Context-based perception and understanding of human intentions

A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction