Bridging the gap between discrete symbolic planning and optimization-based robot control

Enea Scioni; Gianni Borghesan; Herman Bruyninckx; Marcello Bonfè

ICRA 2015poster16 citations

Bridging the gap between discrete symbolic planning and optimization-based robot control

Enea Scioni, Gianni Borghesan, Herman Bruyninckx, Marcello Bonfè

Abstract

Symbolic reasoners generate plans which are often not exploiting the robot capabilities and are sensitive to runtime disturbances. This work proposes a scheduler as an interface between a discrete, symbolic plan and a motion control based on constraint optimization. Acting as a local reasoner, the scheduler valuates a set of predicates to decide when an action will be executed. Given a task specification which describes how the action should be realized, the scheduler configures the controller at runtime. A demonstration will be provided considering an “open drawer” scenario.

BibTeX

@inproceedings{icra2015_bridgingthegapbe,
  title = {Bridging the gap between discrete symbolic planning and optimization-based robot control},
  author = {Enea Scioni and Gianni Borghesan and Herman Bruyninckx and Marcello Bonfè},
  booktitle = {ICRA 2015},
  year = {2015}
}