An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability.

[1]  Vladimir Lifschitz,et al.  Answer set programming and plan generation , 2002, Artif. Intell..

[2]  Jitendra Malik,et al.  Combining self-supervised learning and imitation for vision-based rope manipulation , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[3]  Maria Fox,et al.  VAL: automatic plan validation, continuous effects and mixed initiative planning using PDDL , 2004, 16th IEEE International Conference on Tools with Artificial Intelligence.

[4]  Martin Gebser,et al.  Theory Solving Made Easy with Clingo 5 , 2016, ICLP.

[5]  Martin Gebser,et al.  ASP-Core-2 Input Language Format , 2019, Theory and Practice of Logic Programming.

[6]  Enrico Giunchiglia,et al.  Solving Optimization Problems with DLL , 2006, ECAI.

[7]  Joohyung Lee,et al.  Action Language BC+: Preliminary Report , 2015, AAAI.

[8]  Mario Alviano,et al.  An Advanced Answer Set Programming Encoding for Nurse Scheduling , 2017, AI*IA.

[9]  Bart Selman,et al.  Planning as Satisfiability , 1992, ECAI.

[10]  Alexander Verl,et al.  Cooperation of human and machines in assembly lines , 2009 .

[11]  Martin Gebser,et al.  plasp 3: Towards Effective ASP Planning , 2019, Theory Pract. Log. Program..

[12]  Ilkka Niemelä,et al.  Logic programs with stable model semantics as a constraint programming paradigm , 1999, Annals of Mathematics and Artificial Intelligence.

[13]  Miroslaw Truszczynski,et al.  Answer set programming at a glance , 2011, Commun. ACM.

[14]  Marius Thomas Lindauer,et al.  Ricochet Robots: A Transverse ASP Benchmark , 2013, LPNMR.

[15]  Esra Erdem,et al.  Integrating hybrid diagnostic reasoning in plan execution monitoring for cognitive factories with multiple robots , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[16]  Peter Schüller,et al.  Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach , 2013, Theory and Practice of Logic Programming.

[17]  Martin Gebser,et al.  The Sixth Answer Set Programming Competition , 2017, J. Artif. Intell. Res..

[18]  Reinhard Koch,et al.  An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects , 2014, IEEE Transactions on Automation Science and Engineering.

[19]  Enrico Giunchiglia,et al.  Solving satisfiability problems with preferences , 2010, Constraints.

[20]  I. ClintHeyer.  Human-Robot Interaction and Future Industrial Robotics Applications , 2010 .

[21]  Gerhard Lakemeyer,et al.  ASP-Based Time-Bounded Planning for Logistics Robots , 2018, ICAPS.

[22]  Esra Erdem,et al.  Applications of ASP in Robotics , 2018, KI - Künstliche Intelligenz.

[23]  Fulvio Mastrogiovanni,et al.  On the manipulation of articulated objects in human-robot cooperation scenarios , 2018, Robotics Auton. Syst..

[24]  Fulvio Mastrogiovanni,et al.  Automated Planning Techniques for Robot Manipulation Tasks Involving Articulated Objects , 2017, AI*IA.

[25]  Pieter Abbeel,et al.  Learning from Demonstrations Through the Use of Non-rigid Registration , 2013, ISRR.

[26]  Hidefumi Wakamatsu,et al.  Knotting/Unknotting Manipulation of Deformable Linear Objects , 2006, Int. J. Robotics Res..

[27]  Jake K. Aggarwal,et al.  BWIBots: A platform for bridging the gap between AI and human–robot interaction research , 2017, Int. J. Robotics Res..

[28]  Nicola Leone,et al.  On the Application of Answer Set Programming to the Conference Paper Assignment Problem , 2016, AI*IA.

[29]  Orkunt Sabuncu,et al.  Integrating ASP into ROS for Reasoning in Robots , 2015, LPNMR.

[30]  Masatoshi Ishikawa,et al.  Dynamic High-Speed Knotting of a Rope by a Manipulator , 2013 .