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Proceedings Paper

Planning movements of redundant robots using an analogic approach
Author(s): Gianni Vercelli; Piero Morasso; Renato Zaccaria
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Paper Abstract

The classic Al approach to planning is fundamentally based on smart strategies in a discrete search space. In an analogic approach, on the contrary, basic representations are maps under the influence of complex dynamic systems and the role of "inference" and "reasoning" is taken by the simulation of their action. This approach has already been applied to Common Sense Reasoning and to Robotics. The key idea is that planning movements of redundant robots, which involves both robotic aspects as trajectory formation, navigation, obstacle avoidance, grasping, and AI aspects as action planning and representation of the world, can be solved by embedding these aspects into "analogic experts", that are concurrent procedures operating in a direct and fast way on the world representation. The power of this paradigm lies in treating simultaneously shapes, collision avoidance, trajectories, redundancy and sequence planning, possible dynamic environments, which is, so far, an open problem.

Paper Details

Date Published: 1 January 1990
PDF: 9 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21111
Show Author Affiliations
Gianni Vercelli, Univ. of Genoa (Italy)
Piero Morasso, Univ. of Genoa (Italy)
Renato Zaccaria, Univ. of Genoa (Italy)

Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

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