Sensor-based reactive planning and execution for robotic assembly tasks

Abstract

CIARC, an intelligent multiagent robotic system for assembly tasks, is presented. It includes the following agents: MODELS, VISION (an object recognition system), WD (World Descriptor, converting numerical results from VISION into symbolic relationships), TLP (Task Level Planner), and TE (Task Executor).< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>