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Assembly planning in cluttered environments through heterogeneous reasoning

Author
Beßler, D.; Pomarlan, M.; Akbari, A.; Ud Din, M.; Diab, M.; Rosell, J.; Bateman, J.; Beetz, M.
Type of activity
Book chapter
Book
KI 2018 : Advances in Artificial Intelligence : 41st German Conference on AI, Berlin, Germany, September 24–28, 2018, Proceedings
First page
201
Last page
214
Publisher
Springer
Date of publication
2018
ISBN
978-3-030-00111-7
DOI
https://doi.org/10.1007/978-3-030-00111-7 Open in new window
Repository
http://hdl.handle.net/2117/126244 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-030-00111-7_18 Open in new window
Abstract
Assembly 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 needs to ensure various spatial constraints are met, such as that the parts to be put together are reachable, non occluded, etc. Such inferences are very complicated to support in logic theories, but specialized algorithms exist that efficiently compute qualitative spatial relati...
Citation
Beßler, D., Pomarlan, M., Akbari, A., Ud Din, M., Diab, M., Rosell, J., Bateman, J., Beetz, M. Assembly planning in cluttered environments through heterogeneous reasoning. A: "KI 2018 : Advances in Artificial Intelligence : 41st German Conference on AI, Berlin, Germany, September 24–28, 2018, Proceedings". Cham: Springer, 2018, p. 201-214.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Beßler, Daniel  (author)
  • Pomarlan, Mihai  (author)
  • Akbari, Aliakbar  (author)
  • Ud Din, Muhayy  (author)
  • Diab, Mohammed  (author)
  • Rosell Gratacos, Joan  (author)
  • Bateman, John  (author)
  • Beetz, Michael  (author)

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