Using a Robot Workspace Description for Planning On-Orbit-Servicing Tasks on Modular Satellites
نویسندگان
چکیده
Interest in modular satellites has increased recently. In this paper, we present our approach for planing an OnOrbit-Servicing (OOS) task for a robotic servicer. One key challenge is the gap between the symbolic planing of action sequences and their execution in the continuous space. To bridge this gap, we propose a sampling based workspace description. It is queried by an Hierarchical Task Network Planer (HTN) which generates a symbolic plan for the servicing task. We present heuristics and decompositions for the HTN planer for the task of planning OOS tasks. An experimental evaluation is presented.
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