Such as relational databases, most graphs databases are OLTP databases (online transaction processing) of generic use and can be used to produce a wide range of solutions. That said, they shine particularly when the solution depends, first, on our understanding of how things are connected. This is more common than one may think. And in many cases it is not only how things are connected but ofte...

We address the global motion planning aspects of dextrous manipulation by a multi-ngered robotic hand. The speciic task we address is: starting from a given initial grasp of a 3D object O, nd feasible quasi-static trajectories (rolling/sliding motions and forces) for the ngertips to move O to a desired nal connguration. We call this the re-connguration problem. Our planner is based on a two-lev...

In this paper, a new online robot motion planner is developed for systematically exploring unknown environments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first and ...

In this paper we present the GraphHTN algorithm, a hybrid planning algorithm that does Hierarchical Task-Network (HTN) planning using a combination of HTN-style problem reduction and Graphplan-style planning-graph generation. We also present experimental results comparing GraphHTN with ordinary HTN decomposition (as implemented in the UMCP planner) and ordinary Graphplan search (as implemented ...

This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The implements an original way of modeling through constraint graph that represents the numerical constraints define problem. We propose extension RRT algorithm to is able solve large variety problems. provide replicable experimental results via docker image readers may download ...

We introduce a new approach to planning in STRIPS-like domains based on constructing and analysing a compact structure we call a Planning Graph We describe a new planner, Graphplan, that uses this paradigm Graphplan always returns a shortest-possible partial-order plan, or states that no valid plan exists We provide empirical evidence in favor of this approach, showing that Graphplan outperform...

In this paper we introduce a planner called TADA (Transition Aligned Domain Analysis). TADA is a heuristic temporal and net benefit planner that enables planning with multivalued fluents. These multi-valued fluents, known in the language definition as object-fluents, are an addition to the existing fragment of PDDL timed to coincide with the sixth edition of the International Planning Competiti...

In this paper, we present VVPLAN, a planner based on a classical state space search algorithm. The language used for domain and problem representation is ADL (Pednault 1989). We have compared VVPLAN to UCPOP (Penberthy and Weld 1992)(Weld 1994), a planner that admits the same representation language. Our experiments prove that such an algorithm is often more efficient than a planner based on a ...

Planning that incorporates critical resource and part constraints due to manufacturing processing as well as material handling tolerance and kinematic requirements has not been reported in the existing literature. By integrating these manufacturing resource and part constraints using object-oriented design, our new operations planner creates immediately executable manufacturing plans for flexib...