Name
Abstract | ||
|---|---|---|
In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher performance by autonomously transforming robotu0027s behavior at runtime. We show that plans employed by robotic agents in real-world environments can be transformed, despite their control structures being very complex due to the specifics of acting in the real world. The evaluation is carried out on a plan of a PR2 robot performing pick and place tasks, to which we apply three example transformations, as well as on a large amount of experiments in a fast plan projection environment. |
Year | Venue | DocType |
|---|---|---|
2018 | arXiv: Robotics | Journal |
Volume | Citations | PageRank |
abs/1812.08226 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gayane Kazhoyan | 1 | 2 | 3.77 |
| Arthur Niedzwiecki | 2 | 0 | 0.34 |
| Michael Beetz | 3 | 3784 | 284.03 |