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UBITECH presents a scientific paper on task restricted hierarchical control scheme for small logistics at ICRA 2024

The Robotics & Cognitive Systems (RCS) Research Group of UBITECH has edited a scientific publication, entitled “A Task Restricted Hierarchical Control Scheme Facilitating Small Logistics”, that has been accepted for presentation at the 2nd Workshop on Mobile Manipulation and Embodied Intelligence (MOMA.v2), held in conjunction with 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) in Yokohama, Japan from May 13th to 17th, 2024.

Dr Xanthi Papageorgiou and her co-authors propose a framework for a robotic indoor transport system, specially designed for coping with semi-structured, flexible environments, typically encountered in small residences, warehouses, or medium-sized industrial facilities where there is minimal potential for infrastructural and/or procedural augments to the process, to facilitate the robotic automation. Such environments pose a significant problem to automated solutions, since the environment is flexible and partially unknown, cluttered and human-center.

For such problems, hierarchical abstractions is an almost natural way to decompose the problem, but this line of attack is not without problems. Specifically, for complicated tasks, it is not in general possible to guarantee that the low level controller will be able to facilitate the task. The proposed approach to this problem uses a hierarchical scheme to disengage the low level robot motion with the task reasoning and task planning and to facilitate the execution of the low level, we restrict the task level with a prescribed lexicon and grammar of tasks, that can be executed reasonably well. The grammar is used for each specific plant, to produce a family of tasks that are both easily executable and provide a large coverage in the overall task space.

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