An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community
An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community
复制标题
用模块化机器人完成任务的端到端系统：人工智能社区的观点
DOI：
10.24963/ijcai.2017/686
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发表时间：
2017
影响因子：
6.7
通讯作者：
H. Kress
中科院分区：
文献类型：
--
作者：
Gangyuan Jing;Tarik Tosun;Mark H. Yim;H. Kress
模块化机器人系统的优势在于它们的灵活性，但这种优势只有在存在某种可靠、有效的方法来生成适合给定任务的配置(形状)和行为(控制程序)时才能实现。本文提出了一种端到端的模块化机器人任务处理系统，并在硬件实验中证明了该系统能够完成具有挑战性的多部分任务。该系统由四个紧密集成的组件组成：(1)高级任务规划器，(2)涵盖广泛功能的大型设计库，(3)用于用新的配置和行为填充该库的设计和仿真工具，以及(4)模块化机器人硬件。这个项目的更广泛的目标是使用户能够使用模块化机器人来处理现实世界的任务。我们认为，这项工作代表着朝着这一更大目标迈出的重要一步。
The advantage of modular robot systems lies in their flexibility, but this advantage can only be realized if there exists some reliable, effective way of generating configurations (shapes) and behaviors (controlling programs) appropriate for a given task. In this paper, we present an end-to-end system for addressing tasks with modular robots, and demonstrate that it is capable of accomplishing challenging multi-part tasks in hardware experiments. The system consists of four tightly integrated components: (1) A high-level mission planner, (2) A large design library spanning a wide set of functionality, (3) A design and simulation tool for populating the library with new configurations and behaviors, and (4) modular robot hardware. The broader goal of this project is enabling users to address real-world tasks using modular robots. We believe this work represents an important step toward this larger goal.