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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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