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Journal articles 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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1

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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Tatievskyi, Dmitry. "REALIZATION OF REVERSE MOTION OF THE MODEL OF A SEMITRAILER ROAD TRAIN." EUREKA: Physics and Engineering 3 (May 31, 2018): 59–66. http://dx.doi.org/10.21303/2461-4262.2018.00644.

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The complexity of controlling the road train is due to pronounced nonlinearities, as well as the instability of the control object under reverse motion, often leading to a phenomenon known as jackknifing. Because of this, the task of controlling their motion is relevant, both from the theoretical point of view and from the point of view of the practical implementation of software motion with given constraints. The task of controlling the motion of a road train with a semitrailer under the assumption of non-holonomic constraints (the absence of lateral slippage of support wheels) has a great th

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Dmitry, Tatievskyi. "REALIZATION OF REVERSE MOTION OF THE MODEL OF A SEMITRAILER ROAD TRAIN." EUREKA: Physics and Engineering, no. 3 (May 31, 2018): 59–66. https://doi.org/10.21303/2461-4262.2018.00644.

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The complexity of controlling the road train is due to pronounced nonlinearities, as well as the instability of the control object under reverse motion, often leading to a phenomenon known as jackknifing. Because of this, the task of controlling their motion is relevant, both from the theoretical point of view and from the point of view of the practical implementation of software motion with given constraints. The task of controlling the motion of a road train with a semitrailer under the assumption of non-holonomic constraints (the absence of lateral slippage of support wheels) has a great th

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Travers, Matthew, Julian Whitman, and Howie Choset. "Shape-based coordination in locomotion control." International Journal of Robotics Research 37, no. 10 (2018): 1253–68. http://dx.doi.org/10.1177/0278364918761569.

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Highly articulated systems are capable of executing a variety of behaviors by coordinating their many internal degrees of freedom to help them move more effectively in complex terrains. However, this inherent variety poses significant challenges that have been the subject of a great deal of previous work: What are the most effective or most efficient methods for achieving the intrinsic coordination necessary to produce desired global objectives? This work takes these questions one step further, asking how different levels of coordination, which we quantify in terms of kinematic coupling, affec

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Caballero, Alvaro, Manuel Bejar, Angel Rodriguez-Castaño, and Anibal Ollero. "Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms." International Journal of Advanced Robotic Systems 15, no. 3 (2018): 172988141877052. http://dx.doi.org/10.1177/1729881418770525.

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Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required shutdowns of the facility. An aerial robotic system with two arms for long reach manipulation in cluttered environments is presented to alleviate these constraints. The system consists of a multirotor with a long bar extension that incorporates a lightweight dual arm in the tip. This configuration allows aerial manipulation tasks even in hard-to-reach places. The objective of this work is the development of planning strategies to move the aerial robotic system with two arms

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Cong, Yiwen, Gang Li, Jifu Li, Jianyan Tian, and Xin Ma. "Time-Delay-Based Sliding Mode Tracking Control for Cooperative Dual Marine Lifting System Subject to Sea Wave Disturbances." Actuators 13, no. 12 (2024): 491. https://doi.org/10.3390/act13120491.

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Dual marine lifting systems are complicated, fully actuated mechatronics systems with multi-input and multi-output capabilities. The anti-swing cooperative lifting control of dual marine lifting systems with dual ships’ sway, heave, and roll motions is still open. The uncertainty regarding system parameters makes the task of achieving stable performance more challenging. To adjust both the attitude and position of large distributed-mass payloads to their target positions, this paper presents a time-delay-based sliding mode-tracking controller for cooperative dual marine lifting systems impacte

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Zhao, Jianwei, Tao Han, Xiaofei Ma, et al. "Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator." Applied Sciences 11, no. 20 (2021): 9438. http://dx.doi.org/10.3390/app11209438.

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To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the overall structure of the explosion-expulsion manipulator is introduced. The redundant degrees of freedom are formed by the parallel joint axes of the shoulder joint, elbow joint and wrist pitching joint, which increase the flexibility of the mechanism. Aiming at a complex system with multiple degrees of freedom and strong coupling of the manipulato

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17

Karklinsky, Matan, and Tamar Flash. "Timing of continuous motor imagery: the two-thirds power law originates in trajectory planning." Journal of Neurophysiology 113, no. 7 (2015): 2490–99. http://dx.doi.org/10.1152/jn.00421.2014.

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The two-thirds power law, v = γκ−1/3, expresses a robust local relationship between the geometrical and temporal aspects of human movement, represented by curvature κ and speed v, with a piecewise constant γ. This law is equivalent to moving at a constant equi-affine speed and thus constitutes an important example of motor invariance. Whether this kinematic regularity reflects central planning or peripheral biomechanical effects has been strongly debated. Motor imagery, i.e., forming mental images of a motor action, allows unique access to the temporal structure of motor planning. Earlier stud

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18

Velez, J., G. Hemann, A. S. Huang, I. Posner, and N. Roy. "Modelling Observation Correlations for Active Exploration and Robust Object Detection." Journal of Artificial Intelligence Research 44 (July 14, 2012): 423–53. http://dx.doi.org/10.1613/jair.3516.

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Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from a human collaborator referring to objects of interest; the robot must be able to accurately detect these objects to correctly understand the instructions. However, existing object detection, while competent, is not perfect. In particular, the performance of detection algorithms is commonly sensitive to the position of the sensor relative to the objects in th

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Li, Jiyong, Hai Huang, Lei Wan, Zexing Zhou, and Yang Xu. "Hybrid Strategy-based Coordinate Controller for an Underwater Vehicle Manipulator System Using Nonlinear Disturbance Observer." Robotica 37, no. 10 (2019): 1710–31. http://dx.doi.org/10.1017/s0263574719000213.

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SummaryThis paper presents a hybrid strategy-based coordinate controller with a novel nonlinear disturbance observer for autonomous underwater vehicle manipulator systems (UVMSs). This method can reduce the influence from external unknown disturbances, inner coupling effects and model uncertainties by using a modified disturbance observer. Considering the natural redundancy property of the UVMS, the redundancy resolution algorithm is often utilized to give desired trajectories in the vehicle–joint space. However, because of the calibration errors, assembling errors and numerical errors, these

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20

Deshmukh, S. G., and S. R. Gupta. "Quality Enhancement of Degraded Video and Object Tracking with Local Binary Pattern Approach." International Journal For Academic Research and Development 3, no. 1 (2021): 01–18. https://doi.org/10.5281/zenodo.6640622.

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Video surveillance has an objective to monitor a given environment and report the information about the observed activity that is of significant interest. In this respect, video usually utilizes electro-optical sensors that is video cameras to collect information from the environment. Moving object detection and tracking of a video image signals, by using visible light image sensor a thermal infrared, low light level imaging sensor uptake of the moving target. After the corresponding digital image processing, detection and extraction of moving targets in video file is performed [1]. The detect

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Miao, Runqing, Qingxuan Jia, and Fuchun Sun. "Long-term robot manipulation task planning with scene graph and semantic knowledge." Robotic Intelligence and Automation, January 25, 2023. http://dx.doi.org/10.1108/ria-09-2022-0226.

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Purpose Autonomous robots must be able to understand long-term manipulation tasks described by humans and perform task analysis and planning based on the current environment in a variety of scenes, such as daily manipulation and industrial assembly. However, both classical task and motion planning algorithms and single data-driven learning planning methods have limitations in practicability, generalization and interpretability. The purpose of this work is to overcome the limitations of the above methods and achieve generalized and explicable long-term robot manipulation task planning. Design/m

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22

Lu, Zehui, and Yebin Wang. "A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators." Journal of Field Robotics, July 19, 2024. http://dx.doi.org/10.1002/rob.22394.

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AbstractThis paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable modeling comprises two major components. First, the dynamic model of the mobile manipulator is derived, which differs from the state‐of‐the‐art in two aspects: (1) the model parameters, including magnetic flux, link mass, inertia, and center‐of‐mass, are represented as analytical functions of actuator design pa

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Wang, Lipeng, Xiaochen Wang, Junjun Huang, and Mengjie Liu. "Task and Motion Planning of Service Robot Arm in Unknown Environment Based on Virtual Voxel-semantic Space." IEEE Transactions on Cognitive and Developmental Systems, 2024, 1–13. http://dx.doi.org/10.1109/tcds.2024.3489773.

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Zhao, Haoming, and Xinling Zhang. "Design of nonlinear control system for motion trajectory of industrial handling robot." Advanced Control for Applications, September 20, 2023. http://dx.doi.org/10.1002/adc2.165.

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AbstractIndustrial robot is a and multi‐output complex system with strong coupling and high nonlinearity. The motion control accuracy of the system is affected by many factors. To solve the difficulty in establishing the input and output characteristics of robot dynamics modeling, the robot motion model is established through the Lagrangian energy function. At the same time, the nonlinear relationship between angular velocity, angular acceleration, and robot torque is accurately expressed through improved cascaded neural network. In addition, the optimal time planning of the robot's trajectory

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Yang, Jing, Lingyan Jin, Zejie Han, Deming Zhao, and Ming Hu. "Sensitivity analysis of factors affecting motion reliability of manipulator and fault diagnosis based on kernel principal component analysis." Robotica, December 10, 2021, 1–20. http://dx.doi.org/10.1017/s0263574721001788.

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Abstract As an important index to quantitatively measure the motion performance of a manipulator, motion reliability is affected by many factors, such as joint clearance. The present research utilized a UR10 manipulator as the research object. A factor mapping model for influencing the motion reliability was established. The link flexibility factor, joint flexibility factor, joint clearance factor, and Denavit–Hartenberg (DH) parameters were comprehensively considered in this model. The coupling relationship among the various factors was concisely expressed. Subsequently, the nonlinear respons

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Yang, Huawei, Jie Wu, Aifeng Liang, et al. "Fruit recognition, task plan, and control for apple harvesting robots." Revista Brasileira de Engenharia Agrícola e Ambiental 28, no. 9 (2024). http://dx.doi.org/10.1590/1807-1929/agriambi.v28n9e277280.

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ABSTRACT Intelligent apple-harvesting robots use a staggered distribution of branches and leaves during operation, causing problems such as slow motion planning, low operational efficiency, and high path cost for multi-degrees-of-freedom (DOF) harvesting manipulators. This study presents an autonomous apple-harvesting robotic arm-hand composite system that aims to improve the operational efficiency of intelligent harvesting in dwarf anvil-planted apple orchards. The machine vision system for fruit detection uses the deep learning convolutional neural network (CNN) YOLOv7 and RGB-D camera onlin

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Vyazmin, Alexander, Sangram Behera, Geok Lan See, Victoria Moiseeva, and Matteo Feurra. "A comprehensive approach to studying motor planning and execution using 3D-printed objects and motion tracking technology." Frontiers in Human Neuroscience 19 (June 25, 2025). https://doi.org/10.3389/fnhum.2025.1620526.

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BackgroundMotor planning critically supports efficient hand grasping and object manipulation, involving the precise integration of sensory cues and anticipatory motor commands. Current methods often inadequately separate motor planning from movement execution, thus limiting our understanding of anticipatory motor control mechanisms.ObjectiveThis study aimed to establish and validate a structured methodological approach to investigate motor planning and execution during grasping tasks, using advanced motion tracking technology and standardized 3D-printed geometric objects.MethodsTwenty-one part

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Stebani, Jannik, Martin Blaimer, Simon Zabler, Tilmann Neun, Daniël M. Pelt, and Kristen Rak. "Towards fully automated inner ear analysis with deep-learning-based joint segmentation and landmark detection framework." Scientific Reports 13, no. 1 (2023). http://dx.doi.org/10.1038/s41598-023-45466-9.

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AbstractAutomated analysis of the inner ear anatomy in radiological data instead of time-consuming manual assessment is a worthwhile goal that could facilitate preoperative planning and clinical research. We propose a framework encompassing joint semantic segmentation of the inner ear and anatomical landmark detection of helicotrema, oval and round window. A fully automated pipeline with a single, dual-headed volumetric 3D U-Net was implemented, trained and evaluated using manually labeled in-house datasets from cadaveric specimen ($$N=43$$ N = 43 ) and clinical practice ($$N=9$$ N = 9 ). The

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Wei, Yaqiang, Xinlin Bai, and Han Lu. "Trajectory planning of free-floating space robot for non-cooperative tumbling target capture based on deep reinforcement learning." Robotica, July 11, 2025, 1–19. https://doi.org/10.1017/s0263574725101902.

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Abstract Capturing the non-cooperative tumbling target by the free-floating space robot stands as a crucial task within on-orbit servicing. However, the strong dynamic coupling of the base-spacecraft and the manipulator seriously disturbs the base-spacecraft, which reduces the power generation efficiency of solar panels and the communication quality with the earth station. In this paper, the trajectory planning method of the free-floating space robot for non-cooperative tumbling target capture based on deep reinforcement learning is proposed, which can reduce the disturbance of the base-spacec

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