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dc.contributor.authorAkbari, Aliakbar
dc.contributor.authorUd Din, Muhayy
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2015-11-11T10:18:17Z
dc.date.issued2015
dc.identifier.citationAkbari, A., Ud Din, M., Rosell, J. Task and motion planning using physics-based reasoning. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation". City of Luxembourg: Institute of Electrical and Electronics Engineers (IEEE), 2015.
dc.identifier.isbn978-1-4673-7928-1
dc.identifier.urihttp://hdl.handle.net/2117/79005
dc.description.abstractFor everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative plans may exist, the determination of their feasibility and the identification of the best one is a great challenge in robotics. To address this, this paper proposes: a) a version of GraphPlan (one of the best current approaches to task planning) that has been modified to use ontological knowledge and to allow the retrieval of all possible plans; and b) a physics-based reasoning process that determines the feasibility of the resulting plans and an associated cost that allows to select the best one among them. The proposed framework has been implemented and is illustrated through an example.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Física
dc.subjectÀrees temàtiques de la UPC::Enginyeria electrònica
dc.subject.lcshPhysics
dc.subject.lcshReasoning
dc.subject.otherTask planning
dc.subject.otherPhysics-based motion planning
dc.subject.otherReasoning
dc.subject.otherManipulation
dc.titleTask and motion planning using physics-based reasoning
dc.typeConference report
dc.subject.lemacPlanificació de tasques (Informàtica)
dc.subject.lemacRaonament
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac17088640
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorAkbari, A.; Ud Din, M.; Rosell, J.
local.citation.contributorIEEE International Conference on Emerging Technologies and Factory Automation
local.citation.pubplaceCity of Luxembourg
local.citation.publicationNameProceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation


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