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Contingent task and motion planning under uncertainty for human–robot interactions

Author
Akbari, A.; Rosell, J.; Diab, M.
Type of activity
Journal article
Journal
Applied sciences (Basel)
Date of publication
2020-03-01
Volume
10
Number
5
First page
1665:1
Last page
1665:20
DOI
10.3390/app10051665
Project funding
Autonomous dexterous robots as coworkers with human operators
Repository
http://hdl.handle.net/2117/180150 Open in new window
URL
https://www.mdpi.com/2076-3417/10/5/1665 Open in new window
Abstract
Manipulation 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...
Citation
Akbari, 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.
Keywords
Manipulation planning, Perception, Robot-human interactions, Task and motion planning
Group of research
SIR - Service and Industrial Robotics

Participants