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SpaTiaL :
SpaTiaL : monitoring and planning of robotic tasks using spatio-temporal logic specifications
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- Pek, Christian (författare)
- KTH,Robotik, perception och lärande, RPL,Department of Cognitive Robotics, Faculty of Mechanical Engineering, Delft University of Technology, 2628 CD, Delft, The Netherlands
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- Schuppe, Georg Friedrich, 1993- (författare)
- KTH,Robotik, perception och lärande, RPL
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- Esposito, Francesco (författare)
- KTH,Robotik, perception och lärande, RPL
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- Tumova, Jana (författare)
- KTH,Robotik, perception och lärande, RPL
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- Kragic, Danica, 1971- (författare)
- KTH,Robotik, perception och lärande, RPL
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(creator_code:org_t)
- Springer Nature, 2023
- 2023
- Engelska.
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Ingår i: Autonomous Robots. - : Springer Nature. - 0929-5593 .- 1573-7527. ; 47:8, s. 1439-1462
- Relaterad länk:
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https://doi.org/10.1...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Many tasks require robots to manipulate objects while satisfying a complex interplay of spatial and temporal constraints. For instance, a table setting robot first needs to place a mug and then fill it with coffee, while satisfying spatial relations such as forks need to placed left of plates. We propose the spatio-temporal framework SpaTiaL that unifies the specification, monitoring, and planning of object-oriented robotic tasks in a robot-agnostic fashion. SpaTiaL is able to specify diverse spatial relations between objects and temporal task patterns. Our experiments with recorded data, simulations, and real robots demonstrate how SpaTiaL provides real-time monitoring and facilitates online planning. SpaTiaL is open source and easily expandable to new object relations and robotic applications.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Monitoring
- Object-centric planning
- Spatio-temporal logics
- Task and motion planning
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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