Relevant bibliographies by topics / Semantic coupling of task and motion planning

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  2. Dissertations / Theses
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Academic literature on the topic 'Semantic coupling of task and motion planning'

Author: Grafiati
Published: 7 July 2024
Last updated: 31 July 2025

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Journal articles on the topic "Semantic coupling of task and motion planning"

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Lee, Seokjun, and Incheol Kim. "Constraint Satisfaction for Motion Feasibility Checking." Mathematical Problems in Engineering 2021 (May 27, 2021): 1–16. http://dx.doi.org/10.1155/2021/2334236.

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Task and motion planning (TAMP) is a key research field for robotic manipulation tasks. The goal of TAMP is to generate motion-feasible task plan automatically. Existing methods for checking motion feasibility of task plan skeletons have some limitations of semantic-free pose candidate sampling, weak search heuristics, and early value commitment. In order to overcome these limitations, we propose a novel constraint satisfaction framework for checking motion feasibility of task plan skeletons. Our framework provides (1) a semantic pose candidate sampling method, (2) novel variable and constrain
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Lagriffoul, Fabien, and Benjamin Andres. "Combining task and motion planning: A culprit detection problem." International Journal of Robotics Research 35, no. 8 (2016): 890–927. http://dx.doi.org/10.1177/0278364915619022.

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Solving problems combining task and motion planning requires searching across a symbolic search space and a geometric search space. Because of the semantic gap between symbolic and geometric representations, symbolic sequences of actions are not guaranteed to be geometrically feasible. This compels us to search in the combined search space, in which frequent backtracks between symbolic and geometric levels make the search inefficient. We address this problem by guiding symbolic search with rich information extracted from the geometric level through culprit detection mechanisms.
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Luan, Zhirong, Yujun Lai, Rundong Huang, et al. "Enhancing Robot Task Planning and Execution through Multi-Layer Large Language Models." Sensors 24, no. 5 (2024): 1687. http://dx.doi.org/10.3390/s24051687.

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Large language models have found utility in the domain of robot task planning and task decomposition. Nevertheless, the direct application of these models for instructing robots in task execution is not without its challenges. Limitations arise in handling more intricate tasks, encountering difficulties in effective interaction with the environment, and facing constraints in the practical executability of machine control instructions directly generated by such models. In response to these challenges, this research advocates for the implementation of a multi-layer large language model to augmen
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Niu, Guochen, Yunxiao Zhang, and Wenshuai Li. "Path Planning of Continuum Robot Based on Path Fitting." Journal of Control Science and Engineering 2020 (December 22, 2020): 1–11. http://dx.doi.org/10.1155/2020/8826749.

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The Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection. However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging task. In this paper, a path planning method for Continuum Robot based on an equal curvature model in an aircraft fuel tank environment is proposed. Considering the complexity of calculation and the structural characteristics of Continuum Robot, a feasible obstacle avoidance discrete path is obtained
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Jia, Qingxuan, Bonan Yuan, Gang Chen, and Yingzhuo Fu. "Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure." International Journal of Aerospace Engineering 2019 (September 12, 2019): 1–22. http://dx.doi.org/10.1155/2019/2679152.

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For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as “kinematic coupling relationships” and “dynamic coupling relationships,” inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation betwe
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Bit-Monnot, Arthur, Rafael Bailon-Ruiz, and Simon Lacroix. "A Local Search Approach to Observation Planning with Multiple UAVs." Proceedings of the International Conference on Automated Planning and Scheduling 28 (June 15, 2018): 437–45. http://dx.doi.org/10.1609/icaps.v28i1.13924.

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Observation planning for Unmanned Aerial Vehicles (UAVs) is a challenging task as it requires planning trajectories over a large continuous space and with motion models that can not be directly encoded into current planners. Furthermore, realistic problems often require complex objective functions that complicate problem decomposition. In this paper, we propose a local search approach to plan the trajectories of a fleet of UAVs on an observation mission. The strength of the approach lies in its loose coupling with domain specific requirements such as the UAV model or the objective function tha
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Lewkowicz, Daniel, and Yvonne N. Delevoye-Turrell. "Predictable real-time constraints reveal anticipatory strategies of coupled planning in a sequential pick and place task." Quarterly Journal of Experimental Psychology 73, no. 4 (2019): 594–616. http://dx.doi.org/10.1177/1747021819888081.

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Planning a sequence of two motor elements is much more than concatenating two independent movements. However, very little is known about the cognitive strategies that are used to perform fluent sequences for intentional object manipulation. In this series of studies, the participants’ task was to reach for and pick to place a wooden cylinder to set it on a place pad of three different diameters, which served to modify terminal accuracy constraints. Participants were required to perform the sequences (1) at their preferred speed or (2) as fast as possible. Action kinematics were recorded with t
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Wei, Rongke, Haodong Pei, Dongjie Wu, Changwen Zeng, Xin Ai, and Huixian Duan. "A Semantically Aware Multi-View 3D Reconstruction Method for Urban Applications." Applied Sciences 14, no. 5 (2024): 2218. http://dx.doi.org/10.3390/app14052218.

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The task of 3D reconstruction of urban targets holds pivotal importance for various applications, including autonomous driving, digital twin technology, and urban planning and development. The intricate nature of urban landscapes presents substantial challenges in attaining 3D reconstructions with high precision. In this paper, we propose a semantically aware multi-view 3D reconstruction method for urban applications which incorporates semantic information into the technical 3D reconstruction. Our research primarily focuses on two major components: sparse reconstruction and dense reconstructio
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Tang, Yuhu, Ying Bai, and Qiang Chen. "An Adaptive Obstacle Avoidance Model for Autonomous Robots Based on Dual-Coupling Grouped Aggregation and Transformer Optimization." Sensors 25, no. 6 (2025): 1839. https://doi.org/10.3390/s25061839.

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Accurate obstacle recognition and avoidance are critical for ensuring the safety and operational efficiency of autonomous robots in dynamic and complex environments. Despite significant advances in deep-learning techniques in these areas, their adaptability in dynamic and complex environments remains a challenge. To address these challenges, we propose an improved Transformer-based architecture, GAS-H-Trans. This approach uses a grouped aggregation strategy to improve the robot’s semantic understanding of the environment and enhance the accuracy of its obstacle avoidance strategy. This method
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Zhao, Yingshen, Philippe Fillatreau, Linda Elmhadhbi, Mohamed Hedi Karray, and Bernard Archimede. "Semantic coupling of path planning and a primitive action of a task plan for the simulation of manipulation tasks in a virtual 3D environment." Robotics and Computer-Integrated Manufacturing 73 (February 2022): 102255. http://dx.doi.org/10.1016/j.rcim.2021.102255.

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Dissertations / Theses on the topic "Semantic coupling of task and motion planning"

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Léoty, Florent. "Vers le couplage sémantique de planifications de tâches et de trajectoires pour la validation de tâches complexes sous fortes contraintes spatiales." Electronic Thesis or Diss., Toulouse, INPT, 2023. http://www.theses.fr/2023INPT0135.

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Pour rester compétitifs, les industriels doivent réduire de plus en plus les coûts et les temps de développement de leurs nouveaux produits. Ceux-ci sont aujourd'hui de plus en plus intégrés, plus petits, plus légers et moins gourmands en énergie. Ils sont plus difficiles à concevoir et doivent être assemblés, maintenus et désassemblés sous de très fortes contraintes géométriques. Traditionnellement, en phase de conception, on établit le modèle CAO du produit, puis on fabrique les différentes parties physiques de celui-ci pour s’apercevoir trop souvent ensuite, que tout ou partie des tâches as
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Conference papers on the topic "Semantic coupling of task and motion planning"

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Wang, Xiao, Anna-Katharina Rettinger, Matthias Althoff, and Md Tawhid Bin Waez. "Coupling Apollo with the CommonRoad Motion Planning Framework." In FISITA World Congress 2021. FISITA, 2021. http://dx.doi.org/10.46720/f2020-acm-019.

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The development of autonomous vehicles requires extensive testing of software modules. Developing a reliable software platform which allows testing on a real vehicle is yet a challenging task. Therefore, open-source software platforms are becoming more important for researchers in the field of autonomous driving. For example, Baidu provides the open-source autonomous driving platform Apollo which aims to accelerate testing and deployment of autonomous vehicles. However, the complex software structure hinders an easy integration of developed software modules, especially the motion planning modu
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Reports on the topic "Semantic coupling of task and motion planning"

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Christie, Benjamin, Jordan Klein, Anton Netchaev, and Garry Glaspell. Integrating MOVEit motion constraints on a novel robotic manipulator. Engineer Research and Development Center (U.S.), 2023. http://dx.doi.org/10.21079/11681/47845.

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MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulator’s mechanics, typically Universal R
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