Abstract
To cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the present paper first represents the manipulation problem, involving knowledge about the world and the planning phase, in the form of an ontology. It also addresses a high-level and a low-level reasoning processes, this latter related with physics-based issues, aiming to appraise manipulation actions and prune the task planning phase from dispensable actions. In addition, a procedure is contributed to run these two-level reasoning processes simultaneously in order to make task planning more efficient. Eventually, the proposed planning approach is implemented and simulated through an example.
J. Rosell—This work was partially supported by the Spanish Government through the projects DPI2011-22471, DPI2013-40882-P and DPI2014-57757-R. Muhayyuddin is supported by the Generalitat de Catalunya through the grant FI-DGR 2014.
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Akbari, A., Gillani, M., Rosell, J. (2016). Reasoning-Based Evaluation of Manipulation Actions for Efficient Task Planning. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_6
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DOI: https://doi.org/10.1007/978-3-319-27146-0_6
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