Planning and Execution Monitoring

Posted on August 8th, 2011

A sample cognitive factory scenario

We propose the use of causality-based formal representation and automated reasoning methods from artificial intelligence to endow multiple teams of robots in a factory, with high-level cognitive capabilities, such as optimal planning and diagnostic reasoning. We present a framework that features bilateral interaction between task and motion planning, and embeds geometric reasoning in causal reasoning. We embed this planning framework inside an execution and monitoring framework and show its applicability on multi-robot systems.

Cognitive Factory Demo

 

Execution Monitoring Demo

 

Diagnostic Reasoning Demo

 

Physical Implementation Demo

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