A tight integration of task planning and motion planning in an execution monitoring framework

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Haspalamutgil, Kadir and Palaz, Can and Uras, Tansel and Erdem, Esra and Patoğlu, Volkan (2010) A tight integration of task planning and motion planning in an execution monitoring framework. In: AAAI Conference on Artificial Intelligence, Workshop on Bridging The Gap Between Task And Motion Planning (BTAMP), Atlanta, Georgia, USA

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Abstract

We study integration of task planning and motion planning in a general execution monitoring framework. We show the applicability of this framework, on a modified version of Tower of Hanoi where the orientations of rings matter and rotations of rings maybe required while being moved. We represent this problem as a planning problem in the action language CCalc, and compute a shortest task plan using the reasoning system CCalc. A collision-free trajectory for the task plan (if one exists) is computed by a motion planning algorithm, using Rapidly exploring Random Trees. The monitoring agent invokes replanning upon two kinds of failures: when a continuous trajectory for a task plan cannot be computed, and when the execution of the plan fails due to external intervention. We demonstrate the effectiveness of our approach by implementing it using two robotic manipulators on a physical experimental setup.
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: Volkan Patoğlu
Date Deposited: 26 Nov 2010 10:25
Last Modified: 26 Apr 2022 08:58
URI: https://research.sabanciuniv.edu/id/eprint/15347

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