Title :
A graph-rewriting approach to high-level task planning-an introduction
Author :
Sarkar, Nilanjan ; Sarkar, Medha Shukla
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
Introduces graph-rewriting methodology for robotic task planning. An approach to represent a high-level task plan in the form of a graph and modify it to accommodate various planning strategies is proposed. Explicitly delineated graph-rewrite rules and their ordered applications are used to reflect the change in plans by changing the graph topology. A framework for modeling complex manipulation tasks as interconnection of simpler subtasks and events connecting them is presented. Using a simple example, it is demonstrated how various plans can dynamically evolve as a function of events
Keywords :
graph grammars; graph theory; planning (artificial intelligence); rewriting systems; robots; complex manipulation tasks; graph topology; graph-rewriting approach; high-level task planning; planning strategies; robotic task planning; Humans; Joining processes; Kinematics; Mechanical engineering; Object oriented modeling; Psychology; Robotic assembly; Robots; Strategic planning; Topology;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724694