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Authors: Hisashi Hayashi and Hideki Ogawa

Affiliation: Toshiba Corporation, Japan

ISBN: 978-989-758-073-4

Keyword(s): Speculative Action Preparation, Replanning, Manipulation, Robotics.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Robot and Multi-Robot Systems ; Simulation and Modeling ; Symbolic Systems ; Task Planning and Execution

Abstract: In order to pick (place) a target object from (on) a shelf, a service robot moves to the front side of the shelf, removes obstacles, and reaches out a hand. If the robot prepares for the next arm manipulation while moving to the shelf, it is possible to save time for plan execution. The robot also needs to replan if, for example, a person removes obstacles for the robot. After replanning, the robot might need to suspend the current action execution or next action preparation before executing the updated plan. This paper introduces a method to integrate planning, action execution, speculative next action preparation, replanning, and action suspension based on Hierarchical Task Network (HTN) planning. We also show that this method is effective for pick-andplace manipulation in dynamic environments.

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Paper citation in several formats:
Hayashi, H. and Ogawa, H. (2015). Action Preparation and Replanning in Manipulation.In Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-073-4, pages 109-116. DOI: 10.5220/0005152101090116

@conference{icaart15,
author={Hisashi Hayashi. and Hideki Ogawa.},
title={Action Preparation and Replanning in Manipulation},
booktitle={Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2015},
pages={109-116},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005152101090116},
isbn={978-989-758-073-4},
}

TY - CONF

JO - Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Action Preparation and Replanning in Manipulation
SN - 978-989-758-073-4
AU - Hayashi, H.
AU - Ogawa, H.
PY - 2015
SP - 109
EP - 116
DO - 10.5220/0005152101090116

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