DocumentCode :
2361725
Title :
A planner for time-space coordination of robots in a structured workspace
Author :
Stanton, R.B. ; Molinari, B.P. ; Johnson, C.W. ; Wanless, D. ; Mackerras, P.
Author_Institution :
Dept. of Comput. Sci., Australian Nat. Univ., Canberra, ACT, Australia
fYear :
1989
fDate :
23-25 Oct 1989
Firstpage :
59
Lastpage :
67
Abstract :
In industrial applications, tasks for robotic workcells are typically specified by programs written in conventional programming languages such as VAL-II and Karel. Devising planners which synthesize programs from high-level specification statements is a research problem of considerable difficulty, owing to the multiagent, real-time nature of the activities of a robotic workcell. An experimental planner for such high-level task specification is described. The planner is based on abstracting the time-space coordination aspects typical of a wide range of manufacturing tasks. The planner architecture consists of three modules, with the functions of plan generation (providing partially elaborated plans), space-time planning (yielding fully elaborated plans), and the monitoring of plan execution
Keywords :
artificial intelligence; formal specification; industrial robots; real-time systems; Karel; VAL-II; high-level specification statements; industrial applications; partially elaborated plans; plan generation; planners; programming languages; real-time nature; robotic workcells; robots; space-time planning; structured workspace; time-space coordination; time-space coordination aspects; Computer languages; Control systems; Manufacturing; Monitoring; Orbital robotics; Robot control; Robot kinematics; Robot programming; Robot sensing systems; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Tools for Artificial Intelligence, 1989. Architectures, Languages and Algorithms, IEEE International Workshop on
Conference_Location :
Fairfax, VA
Print_ISBN :
0-8186-1984-8
Type :
conf
DOI :
10.1109/TAI.1989.65303
Filename :
65303
Link To Document :
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