Integration of Symbolic Task Planning into Operations within an Unstructured Environment

Integration of Symbolic Task Planning into Operations within an Unstructured Environment

Renxi Qiu, Alexandre Noyvirt, Ze Ji, Anthony Soroka, Dayou Li, Beisheng Liu, Georg Arbeiter, Florian Weisshardt, Shuo Xu
Copyright: © 2012 |Pages: 20
DOI: 10.4018/ijimr.2012070104
OnDemand:
(Individual Articles)
Available
$29.50
Current Special Offers
No Current Special Offers
TOTAL SAVINGS: $29.50

Abstract

To ensure a robot capable of robust task execution in unstructured environments, task planners need to have a high-level understanding of the nature of the world, reasoning for deliberate actions, and reacting to environment changes. Proposed is a practical task planning approach that seamlessly integrating deeper domain knowledge, real time perception and symbolic planning for robot operation. A higher degree of autonomy under unstructured environment will be endowed to the robot with the proposed approach.
Article Preview
Top

A classical approach of task planning is to build complex robot behaviours based on hierarchal structure (Nakamura, Hanafusa, & Yoshikawa, 1987; Mansard & Chaumette, 2007). In literatures, different ways to define hierarchy among the tasks have been explored. In Decre, Smits, Bruyninckx, and De Schutter (2009), the priority between the tasks is defined by weighting the influence of each task with respect to the others. In Escande, Mansard, and Wieber (2010) and Siciliano and Slotine (1991) a stack-of-task mechanism is defined, where the priority between the tasks is ensured by realizing each task in the null space left by tasks of higher priority.

Complete Article List

Search this Journal:
Reset
Volume 3: 4 Issues (2013)
Volume 2: 4 Issues (2012)
Volume 1: 4 Issues (2011)
View Complete Journal Contents Listing