An Inteligent Tasks Planning System for Industrial Mobile Robots

2012 ◽  
Vol 162 ◽  
pp. 308-315 ◽  
Author(s):  
Alina Ninett Panfir ◽  
Alexandra Covaci ◽  
Gheorghe Leonte Mogan

In this paper we present a general structure of an automatic task planner for a multirobot system. Our focus in this paper is to develop an intelligent complex task planning system that uses both model and case - based approach, while trying to come up with actions that support end goals. We provide an overall description of the proposed system and its integration in an implemented architecture.

2020 ◽  
Vol 69 ◽  
pp. 471-500
Author(s):  
Shih-Yun Lo ◽  
Shiqi Zhang ◽  
Peter Stone

Intelligent mobile robots have recently become able to operate autonomously in large-scale indoor environments for extended periods of time. In this process, mobile robots need the capabilities of both task and motion planning. Task planning in such environments involves sequencing the robot’s high-level goals and subgoals, and typically requires reasoning about the locations of people, rooms, and objects in the environment, and their interactions to achieve a goal. One of the prerequisites for optimal task planning that is often overlooked is having an accurate estimate of the actual distance (or time) a robot needs to navigate from one location to another. State-of-the-art motion planning algorithms, though often computationally complex, are designed exactly for this purpose of finding routes through constrained spaces. In this article, we focus on integrating task and motion planning (TMP) to achieve task-level-optimal planning for robot navigation while maintaining manageable computational efficiency. To this end, we introduce TMP algorithm PETLON (Planning Efficiently for Task-Level-Optimal Navigation), including two configurations with different trade-offs over computational expenses between task and motion planning, for everyday service tasks using a mobile robot. Experiments have been conducted both in simulation and on a mobile robot using object delivery tasks in an indoor office environment. The key observation from the results is that PETLON is more efficient than a baseline approach that pre-computes motion costs of all possible navigation actions, while still producing plans that are optimal at the task level. We provide results with two different task planning paradigms in the implementation of PETLON, and offer TMP practitioners guidelines for the selection of task planners from an engineering perspective.


2021 ◽  
pp. 110-125
Author(s):  
James Wilson

This chapter reframes the project of public health within a rights framework. It argues that there is a right to health, and this entails that individuals have a right to public health. Given that there is a right to public health, the state should undertake to reduce health risks. If a state does not take easy steps to reduce risks to health, and as a result allows significant numbers to come to harm or even death, then it violates individuals’ right to public health, and should be criticized as a Neglectful State. The ethical challenge of public health policy is therefore not the one-sided one of avoiding Nannying, but the more complex task of steering a course between Nannying and Neglect. Avoiding Neglect may involve restricting liberty in various ways.


1991 ◽  
Author(s):  
Sung-Do Chi ◽  
Bernard P. Zeigler ◽  
Francois E. Cellier

2018 ◽  
Vol 20 (1) ◽  
pp. 19-32 ◽  
Author(s):  
Aslina Saad ◽  
Christian Dawson

Purpose This paper presents a recommendation on how one requirement elicitation technique supports the other techniques in defining system requirement for a case-based system. A case-based lesson planning system aims to assist teachers in constructing quality lesson plans through its cycle which begins with case retrieval. To retrieve relevant lesson plans, appropriate inputs should be used and the intended output needs to be identified via suitable requirement elicitation techniques. The use of a single technique might result in inadequate requirement specification, thus affecting the quality of the output requirements as well as quality of the final information system. Design/methodology/approach Requirement elicitation was carried out in three phases: phase I involved document review, phase II was an interview and phase III used a survey. Respondents of the study comprised experienced teachers as well as new teachers. This research used both qualitative and quantitative approaches to answer the research questions, which involved semi-structured interviews, document review and survey to collect the relevant data. Documents were reviewed by analysing lesson plans from three different countries. In addition, a review of lesson plans prepared by teachers and the standard syllabus were carried out. Findings from the document review were used in structured interviews using a teach-back technique, sorting and matrix of attribute-values. A questionnaire was then constructed based on the interviews and document review. Findings The findings of this initial study, as part of a larger research investigation, would help in knowledge modelling and representation. This will contribute to effective case retrieval via good design of the system input and output. The study identifies important elements of a lesson plan according to their ranking. Keywords that were used by teachers as input for retrieval were identified together with the expected output. Research limitations/implications The main goal of requirement elicitation is to specify complete and detailed requirements of the proposed system. There are two main types of requirement: functional and non-functional requirements. This paper only focuses on functional requirements – specifically case retrieval with appropriate input and output. Practical implications Various requirement engineering (RE) techniques can be applied in different phases of requirement elicitation. Suitable technique should be chosen at different phases of RE, as it is important for triangulation purposes. Incomplete RE will affect the modelling part of system development, and, thus, affect the design and implementation of an information system. Social implications Software engineer or anybody involved in system development should plan accordingly for the RE process. They should be creative and reasonable in selecting suitable RE techniques to be applied. Originality/value This study aims to gain understanding of the various aspects of lesson planning. Crucial knowledge in lesson planning that was gathered from the elicitation phase is modelled to have a good understanding of the problems and constraints among teachers. The findings of this initial study, as part of a larger research investigation, would help in knowledge modelling and representation. This will contribute to effective case retrieval via a good design of the system input and output.


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