Article detail · 2013
A case study on the Tower of Hanoi challenge: Representation, reasoning and execution
- Year
- 2013
- Type
- conference-paper
Abstract
OpenAlex · English
The Tower of Hanoi puzzle, has recently been established as a robotics challenge as a part of EU Robotics coordination action in 2011 and IEEE IROS Conference in 2012. It provides a good standardized test bed to evaluate integration of high-level reasoning capabilities of robots together with their manipulation and perception aspects.We address this challenge within a general planning and monitoring framework: we represent the puzzle in a logic-based formalism, integrate task planning and motion planning, solve this hybrid planning problem with a state-of-the-art automated reasoner (e.g., a SAT solver), execute the computed plans under feedback control while also monitoring for failures, and recover from failures as required. We show the applicability of this framework by implementing it using two robotic manipulators on a physical experimental setup.
Topics
Citations
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33 citations
OpenAlex cited_by_count (cache / database)
15 publications in the local catalog that cite this work (OpenAlex reference match; not the full global list).
- A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks 2016
- A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks 2016
- Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoning: an application to cognitive factories 2019
- Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoning: an application to cognitive factories 2019
- Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoning: an application to cognitive factories 2018
- REACT!: An Interactive Educational Tool for AI Planning for Robotics 2015
- ReAct!: An Interactive Educational Tool for AI Planning for Robotics 2015
- Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach 2013
- Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach 2013
- Explainable Robotic Plan Execution Monitoring Under Partial Observability 2022