The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework

被引：0
|
作者：
Dantam N.T. [1 ]
Chaudhuri S. [2 ]
Kavraki L.E. [2 ]
机构：
[1] Computer Science, Colorado School of Mines, Golden, 80401, CO
[2] Department of Computer Science, Rice University, Houston, 77005, TX
来源：
| 2018年 / Institute of Electrical and Electronics Engineers Inc., United States卷 / 25期
关键词：
Robot programming;
D O I：
10.1109/MRA.2018.2815081
中图分类号：
学科分类号：
摘要：
Robots require novel reasoning systems to achieve complex objectives in new environments. Daily activities in the physical world combine two types of reasoning: discrete and continuous. For example, to set the table in Figure 1, the robot must make discrete decisions about which and in what order to pick objects, and it must execute these decisions by computing continuous motions to reach objects or desired locations. Robotics has traditionally treated these issues in isolation. Reasoning about discrete events is referred to as task planning, while reasoning about and computing continuous motions is in the realm of motion planning. © 1994-2011 IEEE.
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收藏
页码：61 / 70
页数：9
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