Towards Plan Transformations for Real-World Pick and Place Tasks

In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher performance by autonomously transforming robot's behavior at runtime. We show that plans employed by robotic agents in real-world environments can be transformed, despite their control structures being very complex due to the specifics of acting in the real world. The evaluation is carried out on a plan of a PR2 robot performing pick and place tasks, to which we apply three example transformations, as well as on a large amount of experiments in a fast plan projection environment

Contractibility for Open Global Constraints

Open forms of global constraints allow the addition of new variables to an argument during the execution of a constraint program. Such forms are needed for difficult constraint programming problems where problem construction and problem solving are interleaved, and fit naturally within constraint logic programming. However, in general, filtering that is sound for a global constraint can be unsound when the constraint is open. This paper provides a simple characterization, called contractibility, of the constraints where filtering remains sound when the constraint is open. With this characterization we can easily determine whether a constraint has this property or not. In the latter case, we can use it to derive a contractible approximation to the constraint. We demonstrate this work on both hard and soft constraints. In the process, we formulate two general classes of soft constraints.Comment: Under consideration in Theory and Practice of Logic Programming (TPLP