Application in Planning

  • Franziska Zacharias
Part of the Cognitive Systems Monographs book series (COSMOS, volume 16)


This chapter demonstrates the use of the capability map in planning tasks. Using two examples, it is demonstrated how the capability map can be used to restrict the search space. The algorithms thus address the gap between task planning and path planning that is indicated in Figure 6.1 by the red rectangle. In the first application covered in this chapter a robot is placed to perform a given trajectory. Its suitability for the task is evaluated. In the second application the capability map is used to obtain good parameters for a path planner and bias the path planning process.


Path Planning Humanoid Robot Inverse Kinematic Mobile Manipulator Path Planner 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Institute of Robotics and MechatronicsDLR German Aerospace CenterWesslingGermany

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