Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application.


    Access

    Download


    Export, share and cite



    Title :

    Logic programming for deliberative robotic task planning



    Publication date :

    2023-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Integrating Deliberative Planning In a Robot Architecture

    Elsaesser, C. / Slack, M. G. / American Institute of Aeronautics and Astronautics et al. | British Library Conference Proceedings | 1994


    Task planning for robotic manipulation in space applications

    Sanderson, A.C. / Peshkin, M.A. / Homen de Mello, L.S. | Tema Archive | 1988


    Collaborative programming of robotic task decisions and recovery behaviors

    Eiband, Thomas / Willibald, Christoph / Tannert, Isabel et al. | German Aerospace Center (DLR) | 2022

    Free access

    Decentralized dynamic task planning for heterogeneous robotic networks

    Paola, D. | British Library Online Contents | 2015


    Task planning for robotic manipulation in space applications

    Sanderson, A.C. / Peshkin, M.A. / Homen de Mello, L.S. | IEEE | 1988