Symbolic reasoners generate plans which are often not exploiting the robot capabilities and are sensitive to runtime disturbances. This work proposes a scheduler as an interface between a discrete, symbolic plan and a motion control based on constraint optimization. Acting as a local reasoner, the scheduler valuates a set of predicates to decide when an action will be executed. Given a task specification which describes how the action should be realized, the scheduler configures the controller at runtime. A demonstration will be provided considering an 'open drawer' scenario.
CITATION STYLE
Scioni, E., Borghesan, G., Bruyninckx, H., & Bonfe, M. (2015). Bridging the gap between discrete symbolic planning and optimization-based robot control. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2015-June, pp. 5075–5081). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ICRA.2015.7139905
Mendeley helps you to discover research relevant for your work.