Search:
Computing and Library Services - delivering an inspiring information environment

Automated Planning Techniques for Robot Manipulation Tasks Involving Articulated Objects

Capitanelli, Alessio, Maratea, Marco, Matrogiovanni, Fulvio and Vallati, Mauro (2017) Automated Planning Techniques for Robot Manipulation Tasks Involving Articulated Objects. In: Proceedings of the The 16th International Conference of the Italian Association for Artificial Intelligence (AI*IA 2017). Lecture Notes in Computer Science . Springer, pp. 483-497. ISBN 9783319701684

[img] PDF - Accepted Version
Restricted to Repository staff only until 7 November 2018.

Download (467kB)

Abstract

The goal-oriented manipulation of articulated objects plays an important role in real-world robot tasks. Current approaches typically pose a number of simplifying assumptions to reason upon how to obtain an articulated object’s goal configuration, and exploit ad hoc algorithms. The consequence is two-fold: firstly, it is difficult to generalise obtained solutions (in terms of actions a robot can execute) to different target object’s configurations and, in a broad sense, to different object’s physical characteristics; secondly, the representation and the reasoning layers are tightly coupled and inter-dependent.

In this paper we investigate the use of automated planning techniques for dealing with articulated objects manipulation tasks. Such techniques allow for a clear separation between knowledge and reasoning, as advocated in Knowledge Engineering. We introduce two PDDL formulations of the task, which rely on conceptually different representations of the orientation of the objects. Experiments involving several planners and increasing size objects demonstrate the effectiveness of the proposed models, and confirm its exploitability when embedded in a real-world robot software architecture.

Item Type: Book Chapter
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > T Technology (General)
Schools: School of Computing and Engineering > High-Performance Intelligent Computing > Planning, Autonomy and Representation of Knowledge
School of Computing and Engineering > High-Performance Intelligent Computing > Planning, Autonomy and Representation of Knowledge
Related URLs:
Depositing User: Mauro Vallati
Date Deposited: 19 Sep 2017 08:39
Last Modified: 26 Mar 2018 16:45
URI: http://eprints.hud.ac.uk/id/eprint/33083

Downloads

Downloads per month over past year

Repository Staff Only: item control page

View Item View Item

University of Huddersfield, Queensgate, Huddersfield, HD1 3DH Copyright and Disclaimer All rights reserved ©