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- Publisher Website: 10.1109/WRCSARA60131.2023.10261838
- Scopus: eid_2-s2.0-85174196465
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Conference Paper: Integrated Task Scheduling, Action Planning and Control for Autonomous Disinfection by a Mobile Robotic Manipulator
| Title | Integrated Task Scheduling, Action Planning and Control for Autonomous Disinfection by a Mobile Robotic Manipulator |
|---|---|
| Authors | |
| Issue Date | 19-Aug-2023 |
| Abstract | This paper presents an approach for solving a challenging problem in the integration of low-level system sensing and control with high-level task scheduling, planning and perception in mobile robotic manipulator systems for autonomous disinfection. First, a unified event-based reference will be introduced. Then, the approach will be implemented in the task of disinfection by a mobile manipulator. The task of disinfection involves both continuous and discrete events. The interactions between discrete and continuous actions will also be considered. The disinfection task in a multiple-object venue is used to illustrate the proposed approach. The experimental results demonstrate the advantages of this method. |
| Persistent Identifier | http://hdl.handle.net/10722/337993 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Ye, Jiajie | - |
| dc.contributor.author | Sheng, Yongji | - |
| dc.contributor.author | Wang, Siyu | - |
| dc.contributor.author | Ma, Ye | - |
| dc.contributor.author | Kwok, Chun | - |
| dc.contributor.author | Wang, Qingyang | - |
| dc.contributor.author | Xi, Ning | - |
| dc.date.accessioned | 2024-03-11T10:25:28Z | - |
| dc.date.available | 2024-03-11T10:25:28Z | - |
| dc.date.issued | 2023-08-19 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/337993 | - |
| dc.description.abstract | <p>This paper presents an approach for solving a challenging problem in the integration of low-level system sensing and control with high-level task scheduling, planning and perception in mobile robotic manipulator systems for autonomous disinfection. First, a unified event-based reference will be introduced. Then, the approach will be implemented in the task of disinfection by a mobile manipulator. The task of disinfection involves both continuous and discrete events. The interactions between discrete and continuous actions will also be considered. The disinfection task in a multiple-object venue is used to illustrate the proposed approach. The experimental results demonstrate the advantages of this method.</p> | - |
| dc.language | eng | - |
| dc.relation.ispartof | The 2023 WRC Symposiumon Advanced Robotics and Automation (WRC SARA) (16/08/2023-22/08/2023, Beijing) | - |
| dc.title | Integrated Task Scheduling, Action Planning and Control for Autonomous Disinfection by a Mobile Robotic Manipulator | - |
| dc.type | Conference_Paper | - |
| dc.identifier.doi | 10.1109/WRCSARA60131.2023.10261838 | - |
| dc.identifier.scopus | eid_2-s2.0-85174196465 | - |
| dc.identifier.spage | 60 | - |
| dc.identifier.epage | 65 | - |