Integrating combined task and motion planning with compliant control
نویسندگان
چکیده
منابع مشابه
Task Planning With Active Sensing For Autonomous Compliant Motion
Previous research showed that the execution of contact tasks under uncertainty benefits from online estimation of the geometrical contact parameters such as positions, orientations and dimensions of the contacting objects. However, the constant translational and rotational velocities commonly used to trigger the contact formation (CF) transitions are often not sufficiently exciting to estimate ...
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Real-world tasks require planners to search for solutions in a partially observable state space. Planning in partially observable domains is computationally expensive—it is impossible to plan for all possible contingencies in advance. Furthermore, real world scenarios introduce a huge variety of context-dependent variation in the dynamics of belief in response to new information. Our approach i...
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To accomplish a task an autonomous robot must break this task into “primitive” subtasks and order them to satisfy precedence constraints. Each subtask requires performing a motion. The existence of a feasible trajectory is an additional precondition for the subtask, but a very expensive one to test. Probabilistic RoadMaps (PRM) are an effective approach to plan feasible trajectories when these ...
متن کاملCombined Task and Motion Planning as Classical AI Planning
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such a decomposition is not effective in general as the symbolic and geometrical components are not independent. In this work, we show that it is possible to com...
متن کاملOverview of aSyMov: Integrating Motion, Manipulation and Task Planning
In this paper we propose a new and integrated approach to solve planning problems with both symbolic and geometric aspects. Typical concerned domains are intricate manipulation and task planning problems involving multiple robots in three dimensional worlds. The approach involves a task planner that guides a probabilistic roadmap method used to capture the topology of the free space in various ...
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ژورنال
عنوان ژورنال: International Journal of Intelligent Robotics and Applications
سال: 2020
ISSN: 2366-5971,2366-598X
DOI: 10.1007/s41315-020-00136-1