Çaldıran, Ozan and Haspalamutgil, Kadir and Ok, Abdullah and Palaz, Can and Erdem, Esra and Patoğlu, Volkan (2009) From discrete task plans to continuous trajectories. In: ICAPS’09 Workshop on Bridging The Gap Between Task And Motion Planning, Thessaloniki, Greece
Full text not available from this repository. (Request a copy)Abstract
We present a logic-based framework to provide robots with high-level reasoning, such as planning. This framework uses the action description language C+ to represent actions and changes, and the system CCALC to reason about them. In
particular, we can represent action domains that involve concurrent actions and additive fluents; based on this description, we can compute shortest plans to a planning problem that involves cost constraints. We show the applicability of
this framework on two LEGO MINDSTORMS NXT robots: we compute a discrete task plan (possibly with concurrency) with a cost less than a specified value, and transform this plan into a continuous collision-free trajectory.
| Item Type: | Papers in Conference Proceedings |
|---|---|
| Divisions: | Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics Faculty of Engineering and Natural Sciences > Academic programs > Computer Science & Eng. Faculty of Engineering and Natural Sciences |
| Depositing User: | Esra Erdem |
| Date Deposited: | 08 Sep 2009 15:22 |
| Last Modified: | 26 Apr 2022 08:50 |
| URI: | https://research.sabanciuniv.edu/id/eprint/11888 |
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