Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such a decomposition is not effective in general as the symbolic and geometrical components are not independent. In this work, we show that it is possible to com...

We present a compilation-based approach to reducing the representational distance between application domain experts and AI planning technology. The approach combines a representation designed to match the structure of human expertise in the construction industry with an established planning technique. The design of this representation is derived from a study carried out with experts in the ind...

Among the underwater robotic systems that are currently available, remotely operated vehicles (ROVs) are the most commonly used underwater robotic systems. A ROV is an underwater vehicle that is controlled from a mother-ship by human operators. Sometimes a ROV is equipped with one or more robotic manipulators to perform underwater tasks. These robotic manipulators are also controlled by human o...

We present a compilation-based approach that combines a formalism designed to match the structure of human expertise in the construction industry with an established planning technique. The domain's modelling requirements are derived from a study carried out with domain experts. This study shows that expertise in the industry is centred on the components of a building organised into a subcompon...

BACKGROUND Optimal applicator insertion is a precondition for the success of cervix cancer brachytherapy (BT). We aimed to assess feasibility and efficacy of MRI-assisted pre-planning, based on applicator insertion in para-cervical anaesthesia (PCA). PATIENTS AND METHODS Five days prior to BT, the pre-planning procedure was performed in 18 cervix cancer patients: tandem-ring applicator was in...

For pre-surgical planning we present quantitative comparison of the location of the hand motor functional area determined by right hand finger tapping BOLD fMRI, resting state BOLD fMRI, and anatomically using high resolution T1 weighted images. Data were obtained on 10 healthy subjects and 25 patients with left sided brain tumors. Our results show that there are important differences in the lo...

In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...

The initiation of voluntary action is preceded by up to 2s of preparatory neural activity, originating in premotor and supplementary motor regions of the brain. The function of this extended period of pre-movement activity is unclear. Although recent studies have suggested that pre-movement activity is influenced by attention to action, little is understood about the specific processes that are...

This paper presents GRT, a domain-independent heuristic planning system for STRIPS worlds. GRT solves problems in two phases. In the pre-processing phase, it estimates the distance between each fact and the goals of the problem, in a backward direction. Then, in the search phase, these estimates are used in order to further estimate the distance between each intermediate state and the goals, gu...