Generating and executing hierarchical mobile manipulation plans
| Autor(en): | Stock, S. Günther, M. Hertzberg, J. |
Stichwörter: | Mobile robots; Robotics; Robots, Complex task; Hierarchical mobile; Plan execution; Robotic systems; Service robots; State-machine; Task planning, Robot programming | Erscheinungsdatum: | 2014 | Herausgeber: | VDE-Verlag | Journal: | Proceedings for the Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 | Startseite: | 605 | Seitenende: | 610 | Zusammenfassung: | To execute complex tasks with a mobile robot in challenging environments, task planning and execution monitoring play a decisive role. This paper presents the integration of an off-the-shelf HTN planner into a robotic system which is aimed at enabling a service robot to learn from experiences. For plan execution, a state-machine-based approach is employed. The system has successfully been demonstrated on a PR2 robot in a restaurant scenario. © VDE VERLAG GMBH Berlin Offenbach. |
Beschreibung: | Conference of Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 ; Conference Date: 2 June 2014 Through 3 June 2014; Conference Code:114598 |
ISBN: | 9783800736010 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84908426084&partnerID=40&md5=2927ac5ad941147559d39ee59b8d7adf |
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