NDLI: Symbolic planning for industrial applications

Content Provider	IEEE Xplore Digital Library
Author	Wantia, N. Losch, D. Rossmann, J.
Copyright Year	2014
Description	Author affiliation: Inst. for Man-Machine Interaction, RWTH Aachen Univ., Aachen, Germany (Wantia, N.; Losch, D.; Rossmann, J.)
Abstract	One of the greatest challenges in automated planning in industrial environments is to create the link between a real world scenario and symbolic representations that are used by a planner. In this paper we describe an approach to interface a planner with a close-to-reality simulation system. By using this approach, we move the problematic interface with a physical scenario to the simulation system, where we can benefit from a representation that is connected with the real world by methods being developed in the context of simulation-based control and eRobotics, an evolving branch of eSystems engineering. Along with these methods for grounding, we get full control over the system and its inner state, not only when the real system is running, but also during development in a purely simulated environment. Since the planner is completely decoupled from the environment, the connection to reality can be established when the development process is completed. We are using the Planning Domain Definition Language (PDDL) to interface different planners with our simulation system. Planning components in the context of industrial robotics were developed, which enable intuitive modeling of knowledge representations. A representation of actions using the custom Petri net scripting language SOML++ is used for intuitive visualization of generated planner output and for execution control in the physical and in simulated scenarios.
Starting Page	367
Ending Page	372
File Size	756297
Page Count	6
File Format	PDF
e-ISBN	9781479952830
DOI	10.1109/CoASE.2014.6899352
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Planning Object oriented modeling Databases Data models Grippers Solid modeling
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