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Article

Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions

Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, 08034 Barcelona, Spain
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Appl. Sci. 2020, 10(5), 1665; https://doi.org/10.3390/app10051665
Received: 8 February 2020 / Revised: 23 February 2020 / Accepted: 24 February 2020 / Published: 1 March 2020
(This article belongs to the Special Issue Multi-Robot Systems: Challenges, Trends and Applications)
Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge. In this scope, a contingent-based task and motion planning is proposed taking into account robot uncertainty and human–robot interactions, resulting a tree-shaped set of geometrically feasible plans. Different sorts of geometric reasoning processes are embedded inside the planner to cope with task constraints like detecting occluding objects when a robot needs to grasp an object. The proposal has been evaluated with different challenging scenarios in simulation and a real environment. View Full-Text
Keywords: task and motion planning; manipulation planning; robot-human interactions; perception task and motion planning; manipulation planning; robot-human interactions; perception
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MDPI and ACS Style

Akbari, A.; Diab, M.; Rosell, J. Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions. Appl. Sci. 2020, 10, 1665. https://doi.org/10.3390/app10051665

AMA Style

Akbari A, Diab M, Rosell J. Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions. Applied Sciences. 2020; 10(5):1665. https://doi.org/10.3390/app10051665

Chicago/Turabian Style

Akbari, Aliakbar, Mohammed Diab, and Jan Rosell. 2020. "Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions" Applied Sciences 10, no. 5: 1665. https://doi.org/10.3390/app10051665

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