Abstract

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.

Authors

Enea Scioni (University of Leuven, Belgium and University of Ferrara, Italy)
Gianni Borghesan (University of Leuven, Belgium)
Herman Bruyninckx (University of Leuven, Belgium and Technical University of Eindhoven, the Netherlands)
Marcello Bonfè (University of Ferrara, Italy)

Paper

Paper on Lirias@KULeuven (openaccess after proceeding publication)
.pdf
Please refer as follow

@INPROCEEDINGS{
  ScioniICRA2015,
  author={Scioni, E. and Borghesan, G. and
    Bruyninckx, H. and Bonfe, M.},
  booktitle={Robotics and Automation (ICRA 2015),
    2015 IEEE International Conference on},
  title={Bridging the gap between Discrete Symbolic Planning 
      and Optimization-based Robot Control},
  year={2015},
  month={May},
  pages={5075-5081}
}

Bridging the gap between Discrete Symbolic Planning and Optimization-based Robot Control

Abstract

Authors

Paper

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