Abstract
Modern industrial robotics is characterised by a need for flexibility in robot design, in order to minimise programming and development time when a robot's tasks must be changed. To address this problem, a recent approach has proposed that robots be equipped with a set of general, reoccurring operations called `skills', e.g., picking, placing, or driving. This paper presents a method for automatically generating planning problems from existing skill definitions such that the resulting problems can be solved using off-the-shelf planning software, and the solutions can be used to control robot actions in the world. As a result, a robot can therefore perform new tasks simply by specifying the task's goals via a GUI. The approach is demonstrated on a set of common tasks in a simulated industrial environment and has also been tested successfully on a real-world robotic platform.
Original language | English |
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Title of host publication | Proceedings of the 4th Workshop on Planning and Robotics (PlanRob) |
Publisher | ICAPS |
Pages | 49-57 |
Number of pages | 9 |
Publication status | Published - 13 Jun 2016 |
Event | 4th ICAPS Workshop on Planning and Robotics 2016 - London, United Kingdom Duration: 13 Jun 2016 → 14 Jun 2016 http://icaps16.icaps-conference.org/planrob.html |
Workshop
Workshop | 4th ICAPS Workshop on Planning and Robotics 2016 |
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Abbreviated title | PlanRob 2016 |
Country/Territory | United Kingdom |
City | London |
Period | 13/06/16 → 14/06/16 |
Internet address |