A case study on the Tower of Hanoi challenge: representation, reasoning and execution

Havur, Giray and Haspalamutgil, Kadir and Palaz, Can and Erdem, Esra and Patoğlu, Volkan (2013) A case study on the Tower of Hanoi challenge: representation, reasoning and execution. In: IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe

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Abstract

The Tower of Hanoi puzzle, has recently been established as a robotics challenge as a part of EU Robotics coordination action in 2011 and IEEE IROS Conference in 2012. It provides a good standardized test bed to evaluate integration of high-level reasoning capabilities of robots together with their manipulation and perception aspects.We address this challenge within a general planning and monitoring framework: we represent the puzzle in a logic-based formalism, integrate task planning and motion planning, solve this hybrid planning problem with a state-of-the-art automated reasoner (e.g., a SAT solver), execute the computed plans under feedback control while also monitoring for failures, and recover from failures as required. We show the applicability of this framework 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: 07 Jan 2014 10:52
Last Modified: 26 Apr 2022 09:14
URI: https://research.sabanciuniv.edu/id/eprint/23782

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