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Planning and Robotics (Dagstuhl Seminar 17031)
2017
Dagstuhl Reports
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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
1975
Environment and Planning, B: Planning and Design
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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
2020
IEEE Transactions on robotics
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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]
2021
arXiv
pre-print
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2020 pre-print arXiv:2010.01909v1 fatcat:za5kkvsyzzawtafq2ukzxk6a3aOther Versions
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]
2017
arXiv
pre-print
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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]
2018
arXiv
pre-print
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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)
2015
South East European Journal of Architecture and Design
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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)
2016
Procedia Environmental Sciences
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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
2021
Zenodo
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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]
2022
arXiv
pre-print
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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
2018
Sensors
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., 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
2007
Journal of the American Society for Information Science and Technology
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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
1995
Cognitive Science
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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
1995
Cognitive Science
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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]
2016
arXiv
pre-print
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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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