MODEL BASED CONTINUAL PLANNING AND CONTROL FRAMEWORK FOR ASSISTIVE ROBOTS

A. Anier, J. Vain

Abstract

The paper presents a model based robot planning and control framework for human assistive robots of medical domain, namely for Scrub Nurse Robots. We focus on endoscopic surgery as one of the most relevant surgery type for the use of robotic assistants. We demonstrate that our framework provides means for seamless integration of sensor data capture, cognitive functions, model based continual planning and direct actuator control. The novel component of the architecture is a distributed continual planning system implemented based on the Uppaal model checking and testing tool suite. The distributed and the contract-based modular architecture of proposed framework enables flexible online reconfiguration and adaptability to various applications, but also safe installation of new software components on-the-fly.

References

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Paper Citation


in Harvard Style

Anier A. and Vain J. (2012). MODEL BASED CONTINUAL PLANNING AND CONTROL FRAMEWORK FOR ASSISTIVE ROBOTS . In Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - Volume 1: PECCS, ISBN 978-989-8565-00-6, pages 403-406. DOI: 10.5220/0003827104030406


in Bibtex Style

@conference{peccs12,
author={A. Anier and J. Vain},
title={MODEL BASED CONTINUAL PLANNING AND CONTROL FRAMEWORK FOR ASSISTIVE ROBOTS},
booktitle={Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - Volume 1: PECCS,},
year={2012},
pages={403-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003827104030406},
isbn={978-989-8565-00-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - Volume 1: PECCS,
TI - MODEL BASED CONTINUAL PLANNING AND CONTROL FRAMEWORK FOR ASSISTIVE ROBOTS
SN - 978-989-8565-00-6
AU - Anier A.
AU - Vain J.
PY - 2012
SP - 403
EP - 406
DO - 10.5220/0003827104030406