Generating and executing hierarchical mobile manipulation plans

DC ElementWertSprache
dc.contributor.authorStock, S.
dc.contributor.authorGünther, M.
dc.contributor.authorHertzberg, J.
dc.date.accessioned2021-12-23T16:32:55Z-
dc.date.available2021-12-23T16:32:55Z-
dc.date.issued2014
dc.identifier.isbn9783800736010
dc.identifier.urihttps://osnascholar.ub.uni-osnabrueck.de/handle/unios/17583-
dc.descriptionConference 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
dc.description.abstractTo 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.
dc.description.sponsorshipABB; KUKA
dc.language.isoen
dc.publisherVDE-Verlag
dc.relation.ispartofProceedings for the Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014
dc.subjectMobile robots
dc.subjectRobotics
dc.subjectRobots, Complex task
dc.subjectHierarchical mobile
dc.subjectPlan execution
dc.subjectRobotic systems
dc.subjectService robots
dc.subjectState-machine
dc.subjectTask planning, Robot programming
dc.titleGenerating and executing hierarchical mobile manipulation plans
dc.typeconference paper
dc.identifier.scopus2-s2.0-84908426084
dc.identifier.urlhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84908426084&partnerID=40&md5=2927ac5ad941147559d39ee59b8d7adf
dc.description.startpage605
dc.description.endpage610
dcterms.isPartOf.abbreviationProc. Jt. Int. Symp. Rob., ISR. German Conf. Rob., ROBOTIK
crisitem.author.netidHeJo177-
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