Robotic systems have yet to match humans in skill for movement planning and tool manipulation. For example, humans can robustly grasp and manipulate objects even under task variation. However, successful grasping methods for robotic manipulators are often limited to structured environmental conditions. Our dual goals are to understand manipulation actions in humans and to add such skills to a r...

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the Universip of Hawaii. Conceived as hybrid, this architecture has been organized in three Layers: Planning, Control and Execution. The mission is planned with a sequence of subgoals. Each...

This paper presents an application of Hierarchical Transition Network (HTN) planning to a squad-based military simulation. The hierarchical planner produces collaborative plans for the whole squad in real time, generating the type of highly coordinated behaviours typical for armed combat situations involving trained professionals. Here, we detail the extensions to HTN planning necessary to prov...

In this paper we present the GraphHTN algorithm, a hybrid planning algorithm that does Hierarchical Task-Network (HTN) planning using a combination of HTN-style problem reduction and Graphplan-style planning-graph generation. We also present experimental results comparing GraphHTN with ordinary HTN decomposition (as implemented in the UMCP planner) and ordinary Graphplan search (as implemented ...

We present an extension to the HTN planning paradigm, which provides a more knowledge centred assessment of activities and ordering constraints. Based upon a knowledge-rich model, DART-Network planning applies mixed mode reasoning to determine the need for activities and ordering constraints within a plan. We describe a simple construction problem to demonstrate the limitations of existing HTN ...

Periprosthetic joint infection (PJI) is one of the most feared and challenging complications following total knee arthroplasty. We provide a detailed description of our current understanding regarding the management of PJI of the knee, including diagnostic aids, pre-operative planning, surgical treatment, and outcome.

Measuring and controlling emissions across the logistics network is an important challenge for today’s firms according to increasing concern about the environmental impact of business activities. This paper proposes a bi-objective credibility-based fuzzy mathematical programming model for designing the strategic configuration of a green logistics network under uncertain conditions. The model ai...

Multi-robot task planning (MRTP) is one of the fundamental problems for multi-robot systems. An important question facing this research topic is, which robot should execute which task so as the expected overall system performance can be maximized? Many approaches have been proposed for such a purpose. This paper investigates the existing works in the field. The approaches have been surveyed and...