Archive for the ‘Research Projects’ Category

HCP-ASP: A Hybrid Conditional Planner

Posted on June 20th, 2017

HCP-ASP is a parallel offline algorithm for computing hybrid conditional plans. HCP-ASP is oriented towards robotics applications. The planner relies on modeling actuation actions and sensing actions in answer set programming (ASP), and computation of the branches of a conditional plan in parallel using an ASP solver.

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Integrating Diagnostic Reasoning in Execution Monitoring

Posted on May 24th, 2015

For reliable and fault tolerant operation of cognitive factories, we introduce an algorithm to monitor plan executions. According to this algorithm, when some changes or discrepancies are detected, appropriate decisions are given based on the causes of these changes or discrepancies. To identify these causes (e.g., broken robots or robot components), we introduce a novel diagnostic reasoning method which synergistically integrates hypothetical reasoning, geometric reasoning, and learning from earlier experiences. Based on these causes, if necessary, new hybrid

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Geometric Rearrangement of Multiple Moveable Objects on Cluttered Surfaces

Posted on September 17th, 2013

In this housekeeping scenario, we consider four moveable objects on a table: red box, gray rack, green tape and yellow tube. The goal is to swap the locations of the red box and the gray rack, utilizing the CoCoA service robot, which features a holonomic mobile base and two 7 degrees of freedom (DoF) arms with grippers. Dynamic simulation of the execution of sample plans are provided in the videos

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Cognitive Toy Factory with Two Teams of Heterogeneous Robots

Posted on September 16th, 2013

We consider a toy factory with two teams of robots, where each team is located in a separate workspace collectively working toward completion of an assigned task. In particular, Team 1 manufactures nutcracker toy soldiers through the sequential stages of cutting, carving and assembling, while Team 2 processes them by going through stages of painting in black, painting in color, and stamping. Each workspace is depicted as a grid, contains

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Manipulation Planning

Posted on September 6th, 2013

We demonstrate the applicability and effectiveness of our planning and monitoring framework using two pantograph robots (two degrees-of-freedom planar parallel manipulators) to perform a complex manipulation task that requires concurrent execution of actions. Scenario 1 involves no failures due to incomplete knowledge (such as unknown obstacles) or uncertainty (such as human interventions). Scenario 2 involves a collision of a payload (while being carried) with an unknown obstacles. Scenario 3 involves a human intervention that

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Tower of Hanoi and Variations

Posted on February 10th, 2013

Tower of Hanoi Challenge provides a good standardized test bed to evaluate integration of high-level reasoning capabilities of robots together with their manipulation and perception aspects.We address this challenge within a general planning and monitoring framework: we represent the puzzle in a logic-based formalism, integrate task planning and motion planning, solve this hybrid planning problem with a state-of-the-art automated reasoner (e.g., a SAT solver), execute the computed plans under feedback control while also monitoring for failures, and recover

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Tower of Hanoi Challenge

Posted on January 17th, 2013
Tower of Hanoi Challenge

Tower of Hanoi Challenge provides a good standardized test bed to evaluate integration of high-level reasoning capabilities of robots together with their manipulation and perception aspects.We address this challenge within a general planning and monitoring framework: we represent the puzzle in a logic-based formalism, integrate task planning and motion planning, solve this hybrid planning problem with a state-of-the-art automated reasoner (e.g., a SAT solver), execute the computed plans under feedback control while also monitoring for failures, and recover

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Cognitive Factories

Posted on October 8th, 2011
Cognitive Factories

Cognitive factories are a new paradigm in production engineering towards a more flexible, adaptable, and reliable production. According to this paradigm, the machines and processes in a factory are equipped with cognitive capabilities that involve reasoning about goals, perception, actions, collaborative task execution, etc. to allow them to assess and increase their scope of operation autonomously.

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Intelligent Robots @ Home

Posted on October 8th, 2011
Intelligent Robots @ Home

In housekeeping, the goal is for multiple autonomous robots to clean a house collaboratively before a given deadline.

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Robotic Manipulation

Posted on October 8th, 2011
Robotic Manipulation

The video demonstrates dynamic simulation of two Kuka youBots autonomously performing a complex manipulation task that requires collaboration of the robots. The underlying planning and monitoring framework tightly integrates causal reasoning with low-level geometric reasoning and motion planning as described in the following paper: “Combining High-Level Causal Reasoning with Low-Level Geometric Reasoning and Motion Planning for Robotic Manipulation” presented at IEEE ICRA 2011.

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