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...

During unscripted speech, speakers coordinate the formulation of pre-linguistic messages with the linguistic processes that implement those messages into speech. We examine the process of constructing a contextually appropriate message and interfacing that message with utterance planning in English (the small butterfly) and Spanish (la mariposa pequeña) during an unscripted, interactive task. T...

This study aimed at examining the main and interaction effects of increased intentional reasoning demands, planning time, and also language learning aptitude on syntactic complexity, accuracy, lexical complexity, and fluency (CALF) of 226 EFL learners’ performance on letter writing tasks. The participants were first randomly assigned to three experimental groups to be given a task with differin...

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...

We describe a methodology for evaluating the user interface components of a pre-operative planning system for performing complex 3-D spatial manipulation and reasoning tasks. The design of a pre-operative planning system for the alignment of acetabular implants in total hip replacement (THR) surgery is used as an example. For this application, we have implemented several alternatives to two of ...

Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all bran...

One drawback of Hierarchical Task Network (HTN) planning is the difficulty of providing complete domain knowledge, i.e., a complete and correct set of HTN methods for every task. To provide a principled way to overcome this difficulty, we define a simple formalism that extends classical planning to include problem decomposition using methods, and a planning algorithm based on this formalism. In...