This paper proposes a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of existing approaches that replan a path only when it becomes unfeasible, the proposed algorithm takes into consideration a replanning every time an effort saving is possible. The effort is here considered as the execution time but it i...

We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the number of regions is proved to be small. We analyze the computational demands of the algorithm and the...

This paper deals with the planning of dexterous grasps for multifingered robot hands. We derive a real-time, joint space finger path planning algorithm for the enclose phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a PreshapeJacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master­ slave scheme avoids inter-fin...

We present a data structure and an algorithm for real-time path planning of a humanoid robot. Due to the many degrees of freedom, the robots shape and available actions are approximated for finding solutions efficiently. The resulting 3 dimensional configuration space is searched by the A* algorithm finding solutions in tenths of a second on lowperformance, embedded hardware. Experimental resul...

The co-presence of a robot and a human sharing some activities in an industrial setting constitutes a challenging scenario for control solutions, requiring highly flexible controllers to preserve productivity and enforce human safety. Standard methods are not suitable given the lack of methodologies able to evaluate robot execution time variability, caused by the necessity to continuously modif...

We present a framework in which partial order plans are used for project management tasks where the dependency between each sub task and employee can be observed. For this purpose, extending the resource conscious linear logic planning, we establish an explicit correspondence between multiplicative exponential linear logic proofs and partial order plans. We express planning problems as formulae...

Computationally tractable planning problems reported in the literature so far have almost exclusively been de ned by syntactical restrictions. To better exploit the inherent structure in problems, it is probably necessary to study also structural restrictions on the underlying state-transition graph. The exponential size of this graph, though, makes such restrictions costly to test. Hence, we p...

A resolution complete optimal kinodynamic motion planning algorithm is presented and described as a generalized label correcting (GLC) method. In contrast to related algorithms, the GLC method does not require a local planning subroutine and benefits from a simple implementation. The key contributions of this paper are the construction and analysis of theGLC conditions which are the basis of th...

In large scale multi-agent systems, both planning for system goals and replanning during plan execution to handle failures are compute-intensive. Since replanning requires faster response time because it happens during plan execution, a lot of focus in the AI planning literature has been on incremental methods, such as plan repair, plan modification etc., which avoid re-synthesizing a complete ...

So far, tractable planning problems reported in the literature have been defined by syntactical restrictions. To better exploit the inherent structure in problems, however, it is probably necessary to study also structural restrictions on the state-transition graph. Such restrictions are typically computationally hard to test, though, since this graph is of exponential size. Hence, we take an i...