Robot Task Planning with Contingencies for Run-time Sensing

Andre Gaschler; Ronald P. A. Petrick; Torsten Kröger; Alois Knoll; Oussama Khatib

Robot Task Planning with Contingencies for Run-time Sensing

Andre Gaschler, Ronald P. A. Petrick, Torsten Kröger, Alois Knoll, Oussama Khatib

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as a task itself. We demonstrate the effectiveness of our approach on two simple scenarios covering visual and force sensing, and discuss its applicability to more general tasks in automation and mobile manipulation, involving arbitrary numbers of sensors and manipulators.

Original language	English
Title of host publication	ICRA 2013 Workshop on Combining Task and Motion Planning
Number of pages	4
Publication status	Published - 1 May 2013

Access to Document

Gaschler Petrick et al 2013 Robot Task Planning with Contingencies for Run-time SensingAccepted author manuscript, 359 KB

Cite this

@inproceedings{c7c45b08c27941249bfa5b22c39b9085,

title = "Robot Task Planning with Contingencies for Run-time Sensing",

abstract = "In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as a task itself. We demonstrate the effectiveness of our approach on two simple scenarios covering visual and force sensing, and discuss its applicability to more general tasks in automation and mobile manipulation, involving arbitrary numbers of sensors and manipulators. ",

author = "Andre Gaschler and Petrick, {Ronald P. A.} and Torsten Kr{\"o}ger and Alois Knoll and Oussama Khatib",

year = "2013",

month = may,

day = "1",

language = "English",

booktitle = "ICRA 2013 Workshop on Combining Task and Motion Planning",

}

TY - GEN

T1 - Robot Task Planning with Contingencies for Run-time Sensing

AU - Gaschler, Andre

AU - Petrick, Ronald P. A.

AU - Kröger, Torsten

AU - Knoll, Alois

AU - Khatib, Oussama

PY - 2013/5/1

Y1 - 2013/5/1

N2 - In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as a task itself. We demonstrate the effectiveness of our approach on two simple scenarios covering visual and force sensing, and discuss its applicability to more general tasks in automation and mobile manipulation, involving arbitrary numbers of sensors and manipulators.

AB - In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as a task itself. We demonstrate the effectiveness of our approach on two simple scenarios covering visual and force sensing, and discuss its applicability to more general tasks in automation and mobile manipulation, involving arbitrary numbers of sensors and manipulators.

M3 - Conference contribution

BT - ICRA 2013 Workshop on Combining Task and Motion Planning

ER -

Robot Task Planning with Contingencies for Run-time Sensing

Abstract

Access to Document

Fingerprint

Cite this