Exploració per autor "Akbari, Aliakbar"
Ara es mostren els items 1-20 de 21
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A tool for knowledge-oriented physics-based motion planning and simulation
Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan; Qazi, Wajahat Mahmood (2019)
Capítol de llibre
Accés obertThe book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ... -
An ontology for failure interpretation in automated planning and execution
Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
Comunicació de congrés
Accés obertAutonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phase, several source ... -
An Ontology Framework for Physics-Based Manipulation Planning
Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
Text en actes de congrés
Accés restringit per política de l'editorialIn manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ... -
Assembly planning in cluttered environments through heterogeneous reasoning
Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
Comunicació de congrés
Accés obertAssembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ... -
Combined heuristic task and motion planning for bi-manual robots
Akbari, Aliakbar; Lagriffoul, Fabien; Rosell Gratacòs, Jan (2019-08-01)
Article
Accés obertPlanning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate ... -
Combining task and motion planning for mobile manipulators
Akbari, Aliakbar (Universitat Politècnica de Catalunya, 2020-04-04)
Tesi
Accés obertThis thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple ... -
Contingent task and motion planning under uncertainty for human–robot interactions
Akbari, Aliakbar; Rosell Gratacòs, Jan; Diab, Mohammed (Multidisciplinary Digital Publishing Institute, 2020-03-01)
Article
Accés obertManipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human ... -
Integrated task and motion planning using physics-based heuristics
Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2016)
Comunicació de congrés
Accés obert—This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about ... -
k-PMP: enhancing physics-based motion planners with knowledge-based reasoning
Ud Din, Muhayy; Rosell Gratacòs, Jan; Akbari, Aliakbar (2017-09-22)
Article
Accés obertPhysics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners ... -
Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty
Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
Text en actes de congrés
Accés restringit per política de l'editorialGrasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of ... -
Knowledge-oriented task and motion planning for multiple mobile robots
Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2019-01-04)
Article
Accés obertRobotic systems composed of several mobile robots moving in human environments pose several problems at perception, planning and control levels. In these environments, there may be obstacles obstructing the paths, which ... -
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration
Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
Comunicació de congrés
Accés restringit per política de l'editorialIn work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ... -
Ontological physics-based motion planning for manipulation
Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialRobotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which ... -
Physics-based Motion Planning with Temporal Logic Specifications
Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (2017-07-01)
Comunicació de congrés
Accés obertOne of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find ... -
Physics-based motion planning: evaluation criteria and benchmarking
Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2015)
Text en actes de congrés
Accés restringit per política de l'editorialMotion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria ... -
PMK : a knowledge processing framework for autonomous robotics perception and manipulation
Diab, Mohammed; Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Multidisciplinary Digital Publishing Institute (MDPI), 2019-03-07)
Article
Accés obertAutonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial ... -
Reasoning-based evaluation of manipulation actions for efficient task planning
Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Springer, 2015)
Comunicació de congrés
Accés restringit per política de l'editorialTo cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the ... -
SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning
Diab, Mohammed; Pomarlan, Mihai; Beßler, Daniel; Rosell Gratacòs, Jan; Akbari, Aliakbar; Bateman, John; Beetz, Michael (2020-12)
Article
Accés restringit per política de l'editorialOne of the problems that service robotics deals with is to bring mobile manipulators to work in semi-structured human scenarios, which requires an efficient and flexible way to execute every-day tasks, like serve a cup in ... -
Task and motion planning using physics-based reasoning
Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialFor 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 ... -
Task planning using physics-based heuristics on manipulation actions
Akbari, Aliakbar; Bashiruddin Ahmed, Muhayyuddin; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
Text en actes de congrés
Accés obertIn order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in ...