The problem of planning for a robot that operates in environments containing large number objects, taking actions to move itself through the world as well change state is known task and motion (TAMP). TAMP problems contain elements discrete planning, discrete–continuous mathematical programming, continuous thus cannot be effectively addressed by any these fields directly. In this article, we de...

Abstract This paper proposes a robotic manipulation task relaxation method applied to and motion planning framework adapted from the literature. The consists of defining regions interest instead end-effector pose, which can potentially increase robot’s redundancy with respect task. Tasks are relaxed by controlling distance target plane while respecting suitable constraints in task-space. We for...

Considering the benefits of preparation for writing in the pre-writing phase, this study attempted to examine the effects of different pre-task strategic planning activities (i.e., pre-task form-focus planning, content-focus planning, and no planning) on writing accuracy and motivation. To achieve the objectives of this study, sixty intermediate EFL learners were selected from an English langua...

We show how to translate HTN domain descriptions (if they satisfy certain restrictions) into PDDL so that they can be used by classical planners. We provide correctness results for our translation algorithm, and show that it runs in linear time and space. We also show that even small and incomplete amounts of HTN knowledge, when translated into PDDL using our algorithm, can greatly improve a cl...

Many methods proposed for automated composition of Web processes use classical AI planning approaches such as rulebased planning, PDDL, and HTN planning. Web processes generated by classical planning methods suffer from the assumption of deterministic behavior of Web services and do not take into account fundamental QoS issues like service reliability and response time. In this paper, we propos...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Many real time applications are designed such that not simply individual tasks but also groups thereof are specified and must be executed satisfying a common real time requirement. Examples are real time transactions executed in a distributed environment, applications with end-to-end constraints and real-time applications with some dependability requirements in which redundancy is introduced fo...