Task Planning for Robotic Excavation
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1284 - 1291, July, 1992
Abstract
We propose a methodology to automatically generate plans for a robot excavator like a bucket loader or a backhoe. The task is formulated as one of constrained optimization in an actkm space that is spanned by the parameters of a prototypical digging plan. We show how geometric and force constraints are lmposed on the action space to build the set of feasible plans, and discuss methods to optimize a cost function within this set. We discuss recent simulation results that demonstrate this method in action
BibTeX
@conference{Singh-1992-13389,author = {Sanjiv Singh and Reid Simmons},
title = {Task Planning for Robotic Excavation},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1992},
month = {July},
pages = {1284 - 1291},
}
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