Planning and Reasoning in Sensor Based Robotics - Intelligent Robots, 1988., IEEE International Workshop on

This paper surveys the planning and reasoning research being carried out in the Robot Vision Lab at Purdue. In parlicular, we will describe the workings of a new planning system called SPAR, which uses a constraint posting approach for simultaneously fulfilling the operational, geometric and uncertainly reduction goals, and the PSEIKI system for evidential reasoning in a rangled hierarchy. We will also mention briefly our other relared research in high precision assembly under forceltorque confrol and robotic manipulation with structural stereopsis for depth perception.