Robotic Assembly and Task Planning
نویسنده
چکیده
If classical planners are ever to automatically plan the actions of the smart machines, particularly robots for the automatic assembly of industrial objects, then they will have to know much more about geometry and topology as well as sensing. Consider that the simple act of changing an object’s grasp-the change might be necessitated by the nature of some assembly goal-involves the interaction of the geometries of the grasping device and the object if the change is to occur without a collision between the device and the object. Of course, one could ask, Could geometric considerations be divorced from the highly developed symbolic-level planning? That is, could we first syn, thesize a symbolic plan and then plug in the geometry for the execution of the actions? Experience has shown the answer to be, unfortunately, a big no. The actions chosen to fulfill an assembly goal depend as much on the symbolic nature of the goal-for example, by the form (PUTON A B)-as they do on the geometric constraints involved in putting object A on top of object B-for example, we might want certain features on the exteriors of A and B to line up as a result of the assembly action. Then, there is the ever-present issue of how to integrate sensing with planning. This integration must be achieved if machines are to be able to use sensing to reduce the uncertainties in their environments. This issue is complex for a variety of reasons: An action can either increase or decrease the uncertainties associated with the environment and do so in a differential manner; that is, an action can cause a decrease in the uncertainty associated with, say, the x coordinate of the position of an object while causing an increase in the Avi Kak
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