General Purpose Task and Motion Planning for Human-Robot Teams

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Antão, L (Author) Other; Costa, N (Author) Other; Gil Manuel Gonçalves (Author) FEUP

Conference proceedings International

Title: 2022 2nd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2022

Pages: 8-14

2nd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2022

9 December 2022 through 11 December 2022

Indexing

Scopus

Other information

Authenticus ID: P-00Y-C05

DOI: 10.1109/raai56146.2022.10092974

Abstract (EN): In the current industrial environment, product customization and process flexibility have taken a central role. Human-robot teams try to answer this demand by coupling human and robot skills. Recent developments in task planning often overlook the first step in task planning, task's discretization and formalization, which is mostly performed manually. Furthermore, resulting task plans alone may not translate into feasible solutions, due to environment constraints. Consequently, motion planning is essential for the evaluation of the tasks' validity and for obtaining appropriate outcomes. To combat this problem, a task-motion planning framework is proposed. The implementation uses a bottom-up approach for the formalization of the task, based on an input that holds an abstraction of the desired outcome. Subsequently planning graphs are generated based on the different formalizations, where task plans can be obtained and scrutinized by a motion planning module that simulates the robotic movements. The output should include the most time-efficient viable plans. This approach was tested using a furniture assembly case study. Results were taken from two prototypical objects suggested by this case study, with different levels of complexity. © 2022 IEEE.

Language: English

Type (Professor's evaluation): Scientific