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Planning and Robotics (Dagstuhl Seminar 17031)

Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, Andrea Orlandini, Marc Herbstritt
2017 Dagstuhl Reports  
The motivation for this seminar was to bring together researchers from the two communities and people from the Industry in order to foster a broader interest in the integration of planning and deliberation  ...  This report documents the program and the outcomes of Dagstuhl Seminar 17031 on "Planning and Robotics".  ...  Following this approach, we propose and discuss an interactive framework that combines human-aware planning, flexible and interactive plan execution, human monitoring, multimodal interaction, and task  ... 
doi:10.4230/dagrep.7.1.32 dblp:journals/dagstuhl-reports/GhallabHMWO17 fatcat:vqoj274bhbakvgovfljltfwqie

The theoretical foundation of computer-aided architectural design

W J Mitchell
1975 Environment and Planning, B: Planning and Design  
I suggest that the challenge before us is to build a new generation of CAD systems that respond in sophisticated ways to these issues.  ...  In particular, I focus on the roles of ambiguity and discontinuity in shape interpretation, instability in rules for carrying out shape computations, and nonmonotonicity in critical reasoning.  ...  But human designers learn. They see the work of others, become sensitive to new issues, become aware of new possibilities, respond to criticism, and constantly modify the rules that they apply.  ... 
doi:10.1068/b020127 fatcat:45vfh2fv2zdthb2shs6tceztqi

Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization

Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger, Sethu Vijayakumar
2020 IEEE Transactions on robotics  
We propose an efficient bilevel formulation that combines graph search methods with trajectory optimization, enabling robotic agents to adapt their policy on-the-fly in accordance to changes of the dyadic  ...  Index Terms-Dual arm manipulation (DaM), manipulation planning, optimization and optimal control, physical human-robot interaction. Manuscript  ...  ACKNOWLEDGMENT The authors would like to thank Tamas Bates, Jiayi Wang and Evripidis Gkanias for their help with the experimental setups, João Moura for feedback and review of the drafts and the anonymous  ... 
doi:10.1109/tro.2020.2992987 fatcat:3id7lkc3zjftzcnbtj7elcvcva

Deliberative Acting, Online Planning and Learning with Hierarchical Operational Models [article]

Sunandita Patra, James Mason, Malik Ghallab, Dana Nau, Paolo Traverso
2021 arXiv   pre-print
In AI research, synthesizing a plan of action has typically used descriptive models of the actions that abstractly specify what might happen as a result of an action, and are tailored for efficiently computing  ...  We demonstrate the asymptotic convergence of UPOM towards optimal methods in static domains, and show experimentally that UPOM and the learning strategies significantly improve the acting efficiency and  ...  This work has been supported in part by NRL grant N00173191G001, ONR grant N000142012257, and AFOSR grant 1010GWA357.  ... 
arXiv:2010.01909v2 fatcat:x5jt7jnptzczfdgbpey3h2qt4m

Autonomous Reactive Mission Scheduling and Task-Path Planning Architecture for Autonomous Underwater Vehicle [article]

Somaiyeh Mahmoud.Zadeh
2017 arXiv   pre-print
Thus, design an efficient routing-task priority assign framework considering vehicle's availabilities and properties is essential for increasing mission productivity and on-time mission completion.  ...  To this end, the AUV needs to have a general overview of the environment in top level to perform an autonomous action selection (task selection) and a lower level local motion planner to operate successfully  ...  A* is categorized as a best-first heuristic search method and acts more efficiently because of its heuristic searching capability [74] .  ... 
arXiv:1706.04189v1 fatcat:hgwbnghhovgsrh47sog4dyhe5u

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses [article]

Yijiang Huang, Caelan Reed Garrett, Caitlin Tobin Mueller
2018 arXiv   pre-print
By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial  ...  While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence  ...  Acknowledgements The authors want to acknowledge Thomas Cook, Khanh Nguyen, and Kodiak Brush at MIT for their work on constructing the early-stage prototype of the software and hardware presented in this  ... 
arXiv:1810.00998v1 fatcat:k5w72qajrbcidj5buxzddvj73a

Relevant Factors in Sustainable Urban Development of Urban Planning Methodology and Implementation of Concepts for Sustainable Planning (Planning Documentation for the Master Plan Skopje 2001-2020)

Emilija Sofeska
2015 South East European Journal of Architecture and Design  
Modern planning is a multidisciplinary activity and requires modeling of energy consumption through management and legislation relating to energy efficiency. 2 There are various institutions dealing with  ...  (EPC) is introduced to help improve the energy efficiency of buildings.  ...  need to go more and more through energy efficiency programs.  ... 
doi:10.3889/seejad.2015.10003 fatcat:scd5o7laejd3xbv72cwj7jbdve

Relevant Factors in Sustainable Urban Development of Urban Planning Methodology and Implementation of Concepts for Sustainable Planning (Planning Documentation for the Master Plan Skopje 2001–2020)

Emilija Sofeska
2016 Procedia Environmental Sciences  
Modern planning is a multidisciplinary activity and requires modeling of energy consumption through management and legislation relating to energy efficiency. 2 There are various institutions dealing with  ...  (EPC) is introduced to help improve the energy efficiency of buildings.  ...  need to go more and more through energy efficiency programs.  ... 
doi:10.1016/j.proenv.2016.04.014 fatcat:wkxugl5omraejcfwsnodiejfu4

A Tool to Model Task Planning Domain for Human-Robot Collaboration

Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, Andrea Orlandini
2021 Zenodo  
Namely, Domain experts, Planning specialists and Roboticists are to configure a set of proper control solutions to enable an effective and safe production.  ...  Temporal flexible planning enables Collaborative Robots to autonomously operate understanding the environment, dynamically planning their tasks and acting to achieve some given goals.  ...  Both the human and the robot can move towards right/left to pick and place the pieces. . to compute the sequence of the operations (task planning).  ... 
doi:10.5281/zenodo.5336826 fatcat:nsbkvwufebf4dhwy54afkc3cfi

ToolTango: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis [article]

Shreshth Tuli and Rajas Bansal and Rohan Paul and Mausam
2022 arXiv   pre-print
This work takes a step in the direction of enabling robots to rapidly synthesize robust plans for complex tasks, particularly in novel settings  ...  TOOLTANGO encodes the world state, comprising objects and symbolic relationships between them, using a graph neural network and is trained using demonstrations from human teachers instructing a virtual  ...  We are grateful to anonymous turkers and student volunteers for assisting in the data collection.  ... 
arXiv:2206.09141v1 fatcat:qtm35fbahjb35krfgl5xv2uaze

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Oliver Kosak, Constantin Wanninger, Alwin Hoffmann, Hella Ponsar, Wolfgang Reif
2018 Sensors  
., to transport workpieces in industrial applications or to support operational forces in search and rescue scenarios, among many others.  ...  To achieve multipotent ensembles, we also integrate reconfigurable and self-descriptive hardware (i.e., sensors and actuators) in this architecture, which can be freely combined to change the capabilities  ...  Task Definition and Planning Employing autonomous, intelligent, and self-aware systems in real-world environments increases the need for efficient (online) planning.  ... 
doi:10.3390/s19010017 fatcat:oq3ohsfduzbxtcjx2m42jv4sfq

Human–machine reconfigurations: Plans and situated actions, 2nd ed

Libby Hemphill
2007 Journal of the American Society for Information Science and Technology  
It should appeal to people working in various disciplines such as media studies, sociology, women's studies, and cultural studies because human rights is central to each of them.  ...  The volume, I believe, reaches far more than scholars in technology studies or development studies.  ...  Searching is an important part of what is done in cyberspace, and chapter 17 simply deals with the efficiency of searching to find the best (top-k) answer.  ... 
doi:10.1002/asi.20714 fatcat:ppvzz4hvcrfm5n2t5hyzfdzgle

Prototypes, location, and associative networks (PLAN): Towards a unified theory of cognitive mapping

E Chown
1995 Cognitive Science  
The emphasis on the human location or "where" system is new to cognitive mapping and is part of an attempt to synthesize prototype theory, associative networks and location together in a connectionist  ...  The result is a model that has a stronger relationship both to the environment, and to the ways thot humans interact with it, compared with previous models.  ...  PROTOTYPES, LOCATION, AND ASSOCIATIVE NETWORKS (PLAN) 19 At this point, some of the differences between a system that is built using connectionist principles, such as PLAN, and more traditional symbolic  ... 
doi:10.1016/0364-0213(95)90003-9 fatcat:juup4pyf7jcqbmyi6o66mr2iz4

Prototypes, Location, and Associative Networks (PLAN): Towards a Unified Theory of Cognitive Mapping

Eric Chown, Stephen Kaplan, David Kortenkamp
1995 Cognitive Science  
The emphasis on the human location or "where" system is new to cognitive mapping and is part of an attempt to synthesize prototype theory, associative networks and location together in a connectionist  ...  The result is a model that has a stronger relationship both to the environment, and to the ways thot humans interact with it, compared with previous models.  ...  PROTOTYPES, LOCATION, AND ASSOCIATIVE NETWORKS (PLAN) 19 At this point, some of the differences between a system that is built using connectionist principles, such as PLAN, and more traditional symbolic  ... 
doi:10.1207/s15516709cog1901_1 fatcat:o3dpm5wwrff7zihgkbsb65bm54

Combined Top-Down and Bottom-Up Approaches to Performance-guaranteed Integrated Task and Motion Planning of Cooperative Multi-agent Systems [article]

Rafael Rodrigues da Silva, Bo Wu, Jin Dai, Hai Lin
2016 arXiv   pre-print
We propose a hierarchical design framework to automatically synthesize coordination schemes and control policies for cooperative multi-agent systems to fulfill formal performance requirements, by associating  ...  On the other hand, bottom-up motion plans associated with each agent are synthesized corresponding to the obtained local missions by composing basic motion primitives, which are verified safe by differential  ...  The task planner sees the world as abstracted symbols and ignores details in geometric or physical constraints, which may cause infeasibility in the motion planning.  ... 
arXiv:1607.07797v2 fatcat:7xqzs2aibfdjxjrgwpfgnowef4
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