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dc.contributor.authorAkbari, Aliakbar
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorDiab, Mohammed
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2020-03-17T10:34:00Z
dc.date.available2020-03-17T10:34:00Z
dc.date.issued2020-03-01
dc.identifier.citationAkbari, A.; Rosell, J.; Diab, M. Contingent task and motion planning under uncertainty for human–robot interactions. "Applied sciences", 1 Març 2020, vol. 10, núm. 5, p. 1665:1-1665:20.
dc.identifier.issn2076-3417
dc.identifier.urihttp://hdl.handle.net/2117/180150
dc.description.abstractManipulation 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 operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge. In this scope, a contingent-based task and motion planning is proposed taking into account robot uncertainty and human–robot interactions, resulting a tree-shaped set of geometrically feasible plans. Different sorts of geometric reasoning processes are embedded inside the planner to cope with task constraints like detecting occluding objects when a robot needs to grasp an object. The proposal has been evaluated with different challenging scenarios in simulation and a real environment.
dc.language.isoeng
dc.publisherMultidisciplinary Digital Publishing Institute
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshHuman-computer interaction
dc.subject.lcshRobotics
dc.subject.otherTask and motion planning
dc.subject.otherManipulation planning
dc.subject.otherRobot-human interactions
dc.subject.otherPerception
dc.titleContingent task and motion planning under uncertainty for human–robot interactions
dc.typeArticle
dc.subject.lemacInteracció persona-ordinador
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.3390/app10051665
dc.relation.publisherversionhttps://www.mdpi.com/2076-3417/10/5/1665
dc.rights.accessOpen Access
local.identifier.drac27254258
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/2PE/DPI2016-80077-R
local.citation.authorAkbari, A.; Rosell, J.; Diab, M.
local.citation.publicationNameApplied sciences
local.citation.volume10
local.citation.number5
local.citation.startingPage1665:1
local.citation.endingPage1665:20


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