A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks.
Jan Kristof BehrensRalph LangeMasoumeh MansouriPublished in: ICRA (2019)
Keyphrases
- constraint programming
- manipulation tasks
- motion planning
- robotic arm
- humanoid robot
- multi robot
- end effector
- combinatorial problems
- constraint satisfaction problems
- constraint propagation
- constraint satisfaction
- robot navigation
- degrees of freedom
- scheduling problem
- symmetry breaking
- global constraints
- hard and soft constraints
- inverse kinematics
- mobile robot
- robotic systems
- camera motion
- human robot interaction
- path planning
- finite domain
- optical flow
- robot arm
- human motion
- image sequences
- service robots
- joint angles
- vision system
- dynamic programming
- configuration space
- lower bound
- feature points
- human activities
- machine learning