Task Planning for an Autonomous Service Robot

Keller, Thomas; Eyerich, Patrick; Nebel, Bernhard

doi:10.1007/978-3-642-25116-0_10

Cited by 8 publications

(3 citation statements)

References 12 publications

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“…Few approaches in robotics use a domain-independent planning system. Temporal Fast Downward (TFD) is extended in (Keller, Eyerich, and Nebel 2010), building on their previous continual planner. The special feature is their "global memory" in the planner, i.e., if the same action fails several times, it is not considered at the re-planning stage.…”

Section: Task Planningmentioning

confidence: 99%

A Framework for Task Planning in Heterogeneous Multi Robot Systems Based on Robot Capabilities

Buehler

Pagnucco

2014

AAAI

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In heterogeneous multi-robot teams, robustness and flexibility are increased by the diversity of the robots, each contributing different capabilities. Yet platform-independence is desirable when planning actions for the various robots. We propose a platform-independent model of robot capabilities which we use as a planning domain. We extend existing planning techniques to support two requirements: generating new objects during planning; and, required concurrency of actions due to data flow which can be cyclic. The first requires online action instantiation, the second a small extension of the Planning Domain Definition Language (PDDL): allowing predicates in continuous effects. We evaluate the planner on benchmark domains and present results on an example object transportation task in simulation.

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Section: Task Planningmentioning

confidence: 99%

A Framework for Task Planning in Heterogeneous Multi Robot Systems Based on Robot Capabilities

Buehler

Pagnucco

2014

AAAI

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“…Moreover, there are many more building blocks to be incorporated in applications. For instance, consider task planning for home service robots [13]. It is necessary to represent actions, probability, time and more building blocks such as preferences altogether at the same time.…”

Section: Introductionmentioning

confidence: 99%

From First-Order Logic to Assertional Logic

Zhou

2017

Artificial General Intelligence

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First-Order Logic (FOL) is widely regarded as one of the most important foundations for knowledge representation. Nevertheless, in this paper, we argue that FOL has several critical issues for this purpose. Instead, we propose an alternative called assertional logic, in which all syntactic objects are categorized as set theoretic constructs including individuals, concepts and operators, and all kinds of knowledge are formalized by equality assertions. We first present a primitive form of assertional logic that uses minimal assumed knowledge and constructs. Then, we show how to extend it by definitions, which are special kinds of knowledge, i.e., assertions. We argue that assertional logic, although simpler, is more expressive and extensible than FOL. As a case study, we show how assertional logic can be used to unify logic and probability, and more building blocks in AI.

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“…Robotic manipulation can be described at various different levels. Actions taken by a robot can be described as high level commands (such as "go to home position") which are often used in supervisory control and planning algorithms [145]. At another level, kinematic descriptions of robotic motion such as "joint-space" and "task-space" formulations define the motion of the robot with regards to the joint angles and Cartesian axes respectively [146].…”

Section: A Taxonomy For Telemanipulation Tasks Using Elemental Actionsmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

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This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective.It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction.In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented.Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities.A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics.Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

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Task Planning for an Autonomous Service Robot

Cited by 8 publications

References 12 publications

A Framework for Task Planning in Heterogeneous Multi Robot Systems Based on Robot Capabilities

A Framework for Task Planning in Heterogeneous Multi Robot Systems Based on Robot Capabilities

From First-Order Logic to Assertional Logic

Task-based telemanipulation for maintenance in large scientific facilities

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