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Planifier avec les contraintes géométriques du mouvement et de la manipulation

Abstract : One of the goal of researches in task planning is to elaborate models and algorithms that contribute to the robots autonomy by giving them decisional abilities. Classically, a symbolic plan computed by a planner let the robot take the decisions of the next actions it must fulfill to satisfy its mission. In this thesis, we develop the following idea: current planners, based on a logical representation of the world, are not able to deal with missions where robots motions constraints and objects manipulation constraints cannot be ignored at this step. In Robotic, the feasibility of motion and manipulation is often a precondition to the good execution of a plan. In this thesis we introduce a formalism that allows us take into account these constraints in the model used by a planner. By using results from motion and manipulation planning as much as some from task planning, we propose a new planner able to reason on this formalism. We produce plans that define not only an order of action but also the motions without collision needed for its execution. The planner implementation is presented and evaluated.
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Contributor : Emilie Marchand <>
Submitted on : Wednesday, July 27, 2005 - 2:00:09 PM
Last modification on : Thursday, June 10, 2021 - 3:05:24 AM
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  • HAL Id : tel-00009845, version 1


Stéphane Cambon. Planifier avec les contraintes géométriques du mouvement et de la manipulation. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2005. Français. ⟨tel-00009845⟩



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