An Extensible Software Architecture for Composing Motion and Task Planners
An Extensible Software Architecture for Composing Motion and Task Planners
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用于组合运动和任务规划器的可扩展软件架构
DOI：
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发表时间：
2014
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通讯作者：
Kostas E. Bekris
中科院分区：
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作者：
Zakary Littlefield;A. Krontiris;A. Kimmel;Andrew Dobson;Rahul Shome;Kostas E. Bekris
本文描述了一个用于开发和编写任务和运动规划器的软件基础结构。运动规划器的功能定义得很好，它们提供了一个基本的基本元素，在此基础上，可以开发用于处理更高级别任务的规划器。然而，考虑到任务计划器可以用于各种各样的挑战，确定任务计划器的公共接口更具挑战性。所提出的软件平台遵循分层、面向对象的结构，并识别关键抽象，有助于将新的任务规划器与流行的基于采样的运动规划器集成在一起。可以在这个通用软件框架内实现的用例示例包括机器人应用程序，如动态障碍物之间的规划、对象操作和重新排列，以及分散的运动协调。所描述的平台已被用于规划百特机器人以一种有效的方式重新排列环境中的相似物体。
This paper describes a software infrastructure for developing and composing task and motion planners. The functionality of motion planners is well defined and they provide a basic primitive on top of which it is possible to develop planners for addressing higher level tasks. It is more challenging, however, to identify a common interface for task planners, given the variety of challenges that they can be used for. The proposed software platform follows a hierarchical, object-oriented structure and identifies key abstractions that help in integrating new task planners with popular sampling-based motion planners. Examples of use cases that can be implemented within this common software framework include robotics applications such as planning among dynamic obstacles, object manipulation and rearrangement, as well as decentralized motion coordination. The described platform has been used to plan for a Baxter robot rearranging similar objects in an environment in an efficient way.