Traditional planning assumes reachability goals and/or full observability. In this paper, we propose a novel solution for safety and reachability planning with partial observability. Given a planning domain, a safety property, and a reachability goal, we automatically learn a safe and permissive plan to guide the planning domain so that the safety property is not violated and which can force th...

Supplying required human resource is one of the strategic goals of an organization. Therefore, organizations plan and predict the required human resources in order to prevent this problem. Present study using practical approach seeks to assist organizations to achieve their various goals in human resources planning. The designed model in this study clarifies vague, inaccurate, and fuzzy exp...

In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipul...

This paper rst gives an overview of results obtained within the Heros network, on the integration of, on the one hand, oo-line, CAD based planning of force-controlled compliant motions, and, on the other hand, the execution of the generated plan by a force-controlled robot in a real environment. Secondly, the open problems in this state of the art, as experienced during the executed experiments...

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in process: panel localization and pick-up, transport, placement. Multiple stationary robot-mounted cameras provide information alignment. A robot wrist-mounted force/torque sensor enables gentle but secure pick-up Human-assisted path planning ...

The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple...

This paper describes the development of computer simulation models by the Operational Analysis Element of the Air Warfare Centre to support Force Protection planning within the Royal Air Force. The paper illustrates both the application of rapid system development methodology to meet a military requirement, and provides a case study into how a model can develop using the Environmental Systems R...