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Titre: | Layered task planning for mobile manipulators |
Auteur(s): | Djezairi, Salim Boushaki Zamoum, Razika Akli, Isma Bouzouia, Brahim |
Mots-clés: | Task planning Mobile manipulator Layered task graph Planning with shortcuts BFS |
Date de publication: | 2019 |
Editeur: | Elsevier |
Collection/Numéro: | Computers and Electrical Engineering/ Vol. 79(2019); |
Résumé: | Task planning for mobile manipulators is a challenging problem in robotics. Mobile ma- nipulators can perform a wide range of tasks in complex environments. They must process the symbolic knowledge in order to find a sequence of actions that achieves the specified goals. This paper proposes a hybrid approach named Planning with Shortcuts. It uses a data structure called Layered Task Graph (LTG) which groups primitive actions, robot skills and task patterns in a strictly hierarchical manner. It then uses the LTG to create shortcuts in the state space in order to accelerate the search. A task planner is called to find a set of actions that achieves the goal task. The result of the search is a sequence of high level actions and primitive actions. The high level actions are then decomposed using the task decomposition approach. |
URI/URL: | http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/9994 |
Collection(s) : | Publications Internationales
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