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AIC Seminar Series

A Formal Hybrid Planning Framework for Robotic Manipulation

Esra ErdemSabanci University, Turkey[Home Page]

Notice:  Hosted by Vinay Chaudhri

Date:  2014-03-20 at 16:00

Location:  EK255 (SRI E building)  (Directions)

Webex: 

VTC available for San Diego upon request.
   Abstract

Robotic manipulation aims automatic generation of robot motion sequences for manipulation of movable objects among obstacles, to achieve a desired goal configuration. Some of these objects can only move when picked up by robots, and the order of pick-and-place operations for manipulation may matter to obtain a feasible kinematic solution. Therefore, geometric reasoning and motion planning alone are not sufficient to solve these manipulation problems; and planning of actions such as the pick-and-place operations need to be integrated with the motion planning problem. We present a modular framework that combines these two sorts of reasoning, using expressive formalisms and efficient solvers of answer set programming. We illustrate applications of this framework to complex robotic manipulation tasks that require concurrent execution of actions, with both dynamic simulations and physical implementations, using multiple Kuka youBots.

   Bio for Esra Erdem

Esra Erdem is an associate professor in Computer Science and Engineering at Sabanci University. She received her Ph.D. in computer sciences at the University of Texas at Austin (2002), and visited University of Toronto and Vienna University of Technology for postdoctoral research (2002-2006). Her research is in the area of artificial intelligence, in particular, the mathematical foundations of knowledge representation and reasoning, and their applications to cognitive robotics and computational biology.

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