The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework
The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework
复制标题
任务运动套件：一个开源的通用任务和运动规划框架
DOI：
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发表时间：
2016
影响因子：
5.7
通讯作者：
L. Kavraki
中科院分区：
文献类型：
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作者：
Neil T. Dantam;Swarat Chaudhuri;L. Kavraki
机器人需要新颖的推理系统才能在新的环境中实现复杂的目标。物质世界中的日常活动结合了两种类型的推理：离散推理和连续推理。例如，要设置图1中的工作台，机器人必须对拾取对象的哪些和以什么顺序做出离散决策，并且它必须通过计算到达对象或所需位置的连续运动来执行这些决策。机器人学传统上是孤立地处理这些问题。关于离散事件的推理被称为任务规划，而关于连续运动的推理和计算属于运动规划的领域。
Robots require novel reasoning systems to achieve complex objectives in new environments. Daily activities in the physical world combine two types of reasoning: discrete and continuous. For example, to set the table in Figure 1, the robot must make discrete decisions about which and in what order to pick objects, and it must execute these decisions by computing continuous motions to reach objects or desired locations. Robotics has traditionally treated these issues in isolation. Reasoning about discrete events is referred to as task planning, while reasoning about and computing continuous motions is in the realm of motion planning.