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Knowledge-oriented task and motion planning for multiple mobile robots

Author
Akbari, A.; Ud Din, M.; Rosell, J.
Type of activity
Journal article
Journal
Journal of experimental and theoretical artificial intelligence
Date of publication
2019-01-04
Volume
31
Number
1
First page
137
Last page
162
DOI
https://doi.org/10.1080/0952813X.2018.1544280 Open in new window
Repository
http://hdl.handle.net/2117/126245 Open in new window
URL
https://www.tandfonline.com/doi/abs/10.1080/0952813X.2018.1544280 Open in new window
Abstract
Robotic 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 robots can remove by pushing or pulling them. At planning level, therefore, an efficient combination of task and motion planning is required. Even more if we assume a cooperative system in which robots can collaborate with each other by e.g. pushing together a heavy obstacle or b...
Citation
Akbari, A., Ud Din, M., Rosell, J. Knowledge-oriented task and motion planning for multiple mobile robots. "Journal of experimental and theoretical artificial intelligence", 4 Gener 2019, vol. 31, núm. 1, p. 137-162.
Keywords
Task and motion planning, knowledge-based representation, manipulation planning, reasoning process
Group of research
SIR - Service and Industrial Robotics

Participants