Combining Assembly Planning and Geometric Task Planning
This chapter deals with the integration of different planners that solve problems from different domains in a common context. In particular, a joint solution for structure assembly planning, symbolic task planning and geometric planning is presented and a
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stract This chapter deals with the integration of different planners that solve problems from different domains in a common context. In particular, a joint solution for structure assembly planning, symbolic task planning and geometric planning is presented and analyzed in the construction of structures with a team of aerial robots equipped with on-board manipulators in places where the access is difficult. Geometric reasoning is present at different levels in our joint solution in order to reduce the computational complexity derived from the highly dimensional space due to the many degrees of freedom of the robots and the complexity of the tasks and also to produce more robust plans even for strongly intricate problems.
R. Lallement · J. Cortés · M. Gharbi · A. Boeuf · R. Alami (B) LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France e-mail: [email protected] R. Lallement e-mail: [email protected] J. Cortés e-mail: [email protected] M. Gharbi e-mail: [email protected] A. Boeuf e-mail: [email protected] C. J. Fernandez-Agüera · I. Maza GRVC Robotics Lab Sevilla, Universidad de Sevilla, Sevilla, Spain e-mail: [email protected] I. Maza e-mail: [email protected] © Springer Nature Switzerland AG 2019 A. Ollero and B. Siciliano (eds.), Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics 129, https://doi.org/10.1007/978-3-030-12945-3_22
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1 Introduction The motivation for the work described in this chapter comes from context of the ARCAS European Project1 funded by the European Commission. One of the goals of this project is to build a structure by using a team of aerial robotic manipulators (AROMAs). The practical interest of this system can be found in situations where it is required to build a structure in places with difficult access by conventional means. Actually, the problem of automatically finding a proper place for the construction of the structure is also addressed in the project. Assembly planning is the process of creating a detailed assembly plan to craft a whole product from separate parts by taking into account the final product geometry, available resources to manufacture that product, fixture design, feeder and tool descriptions, etc. In this context, different planning problems such as structure assembly planning, task planning and motion planning have to be solved in a highly dimensional space due to the many degrees of freedom of the robots and the complexity of the tasks. To have simple yet interesting structures to assemble the project focused on structures made of bars. An example can be seen in Fig. 1. The simplicity comes from the clipping mechanism: when two pieces are brought together they clip ensuring a strong link. On the other hand the complexity comes from the need for cooperative transport of certain long bars requiring two (or more) AROMAs to strongly cooperate. Moreover the robots are using arms which must be compliant to avoid any problems. To carry out the assembly of the structures, the complete system must exhibit a set
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