From Discrete Task Plans to Continuous Trajectories. Caldiran, O., Haspalamutgil, K., Ok, A., Palaz, C., Erdem, E., & Patoglu, V. In International Conference on Automated Planning and Scheduling (ICAPS), Workshop on Bridging The Gap Between Task And Motion Planning, 2009. abstract bibtex We present a logic-based framework to provide robots with high-level reasoning, such as planning. This framework uses the action description language C+ to represent actions and changes, and the system CCalc to reason about them. In particular, we can represent action domains that involve concurrent actions and additive fluents; based on this description, we can compute shortest plans to a planning problem that involves cost constraints. We show the applicability of this framework on two LEGO Mindstorms NXT robots: we compute a discrete task plan (possibly with concurrency) with a cost less than a specified value, and transform this plan into a continuous collision-free trajectory.
@InProceedings{Caldiran2009b,
booktitle = {International Conference on Automated Planning and Scheduling (ICAPS), Workshop on Bridging The Gap Between Task And Motion Planning},
author = {Ozan Caldiran and Kadir Haspalamutgil and Abdullah Ok and Can Palaz and Esra Erdem and Volkan Patoglu},
title = {{From Discrete Task Plans to Continuous Trajectories}},
year = {2009},
abstract ={We present a logic-based framework to provide robots with high-level reasoning, such as planning. This framework uses the action description language C+ to represent actions and changes, and the system CCalc to
reason about them. In particular, we can represent action domains that involve concurrent actions and additive fluents; based on this description, we can compute shortest plans to a planning problem that involves cost constraints.
We show the applicability of this framework on two LEGO Mindstorms NXT robots: we compute a discrete task plan (possibly with concurrency) with a cost less than a specified value, and transform this plan into a continuous
collision-free trajectory.}
}
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