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A graph-rewriting approach to high-level task planning-an introduction

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2 Author(s)
Sarkar, N. ; Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA ; Sarkar, M.S.

Introduces graph-rewriting methodology for robotic task planning. An approach to represent a high-level task plan in the form of a graph and modify it to accommodate various planning strategies is proposed. Explicitly delineated graph-rewrite rules and their ordered applications are used to reflect the change in plans by changing the graph topology. A framework for modeling complex manipulation tasks as interconnection of simpler subtasks and events connecting them is presented. Using a simple example, it is demonstrated how various plans can dynamically evolve as a function of events

Published in:

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

13-17 Oct 1998