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Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions
2020
Applied Sciences
Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge. In this scope, a contingent-based task and motion planning is proposed taking into account robot uncertainty and human–robot interactions, resulting
doi:10.3390/app10051665
fatcat:wwdvlbecwvhilahafkbggjymia