Task Planning
Since the early 2000s we have addressed task planning for mobile robots using different cognitive processes, such as abstraction or semantics. The results have demonstrated improved computational cost and robustness.
We have reported the following results concerning task planning in robotics:
Contents
Journals (6)
2010
C. Galindo, J. Gonzalez-Jimenez, J.A. Fernández-Madrigal
Interactive in-vehicle guidance through a Multihierarchical representation of Urban map
International Journal of Intelligent Systems, vol. 25, no. 7, pp. 597–707, 2010. Q3 · T2
@article{galindo2010,
title = {Interactive in-vehicle guidance through a Multihierarchical representation of Urban map},
author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/cgalindo/papers/DRAFT_Interactive_Routing.pdf},
doi = {10.1002/int.20414},
year = {2010},
date = {2010-01-01},
journal = {International Journal of Intelligent Systems},
volume = {25},
number = {7},
pages = {597--707},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2008
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Multihierarchical Interactive Task Planning. Application to Mobile Robotics
IEEE Transactions on Systems, Man, and Cybernetics, part B, vol. 38, no. 3, pp. 785–798, 2008. Q1 · T1
@article{galindo2008,
title = {Multihierarchical Interactive Task Planning. Application to Mobile Robotics},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/cgalindo/papers/draft_SMCB2008.pdf},
doi = {10.1109/TSMCB.2008.920227},
year = {2008},
date = {2008-01-01},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, part B},
volume = {38},
number = {3},
pages = {785--798},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2007
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez, A. Saffiotti, P. Buschka
Life-Long Optimization of the Symbolic Model of the Environment of a Mobile Robot
IEEE Transactions on Systems, Man, and Cybernetics part B, vol. 37, no. 5, pp. 1290–1304, 2007. Q1 · T1
@article{galindo2007c,
title = {Life-Long Optimization of the Symbolic Model of the Environment of a Mobile Robot},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Saffiotti, Alessandro and Buschka, Par},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/cgalindo/papers/draft_SMCB2007.pdf},
doi = {10.1109/TSMCB.2007.900074},
year = {2007},
date = {2007-01-01},
journal = {IEEE Transactions on Systems, Man, and Cybernetics part B},
volume = {37},
number = {5},
pages = {1290--1304},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2004
J.A. Fernández-Madrigal, C. Galindo, J. Gonzalez-Jimenez
Assistive Navigation of a Robotic Wheelchair using a Multihierarchical Model of the Environment
Integrated Computer-Aided Engineering, vol. 11, no. 4, pp. 309–322, 2004. Q4 · T3
@article{fernandezmadrigal2004,
title = {Assistive Navigation of a Robotic Wheelchair using a Multihierarchical Model of the Environment},
author = {Fernández-Madrigal, Juan-Antonio and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
url = {http://iospress.metapress.com/content/y1fdufkd68jh33gc/},
doi = {10.3233/ICA-2004-11402},
year = {2004},
date = {2004-01-01},
journal = {Integrated Computer-Aided Engineering},
volume = {11},
number = {4},
pages = {309--322},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Improving Efficiency in Mobile Robot Task Planning Through World Abstraction
IEEE Transactions on Robotics & Automation, vol. 20, no. 4, pp. 677–690, 2004. Q1 · T1
@article{galindo2004,
title = {Improving Efficiency in Mobile Robot Task Planning Through World Abstraction},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/cgalindo/papers/draft_HPWA.pdf},
doi = {10.1109/TRO.2004.829480},
year = {2004},
date = {2004-01-01},
journal = {IEEE Transactions on Robotics & Automation},
volume = {20},
number = {4},
pages = {677--690},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
1999
J.A. Fernández-Madrigal, J. Gonzalez-Jimenez, L. Mandow, J.L. Pérez-de-la-Cruz
Mobile Robot Path Planning: A Multicriteria Approach
Engineering Applications of Artificial Intelligence, vol. 12, no. 4, pp. 543–554, 1999. Q4 · T3
@article{fernandezmadrigal1999b,
title = {Mobile Robot Path Planning: A Multicriteria Approach},
author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Mandow, Lawrence and Pérez-de-la-Cruz, José-Luis},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/jgmonroy/papers/Others/MobileRobotPathPlanning%28Fernandez_et_al%2C%201999%29.pdf},
doi = {10.1016/S0952-1976(99)00018-4},
year = {1999},
date = {1999-01-01},
journal = {Engineering Applications of Artificial Intelligence},
volume = {12},
number = {4},
pages = {543--554},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Books (1)
2007
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments
Springer-Verlag, 2007, ISBN: 978-3-540-72688-3.
@book{galindo2007,
title = {Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {http://link.springer.com/book/10.1007%2F978-3-540-72690-6},
doi = {10.1007/978-3-540-72690-6},
isbn = {978-3-540-72688-3},
year = {2007},
date = {2007-01-01},
volume = {68},
publisher = {Springer-Verlag},
series = {Studies in Computational Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
Conferences (6)
2007
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez, A. Saffiotti
Using Semantic Information for Improving Efficiency of Robot Task Planning
Workshop on "Semantic Information in Robotics", in IEEE ICRA'07, Rome (Italy), 2007.
@inproceedings{galindo2007d,
title = {Using Semantic Information for Improving Efficiency of Robot Task Planning},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Saffiotti, Alessandro},
url = {http://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=pdf&f=downloads%2Fjafma%2Fpapers%2Ficra07_workshop_GalindoEtAl.pdf},
year = {2007},
date = {2007-04-01},
booktitle = {Workshop on "Semantic Information in Robotics", in IEEE ICRA'07},
address = {Rome (Italy)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2005
C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Multihierarchical Semantic Maps for Mobile Robotics
IEEE International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2005.
@inproceedings{galindo2005b,
title = {Multihierarchical Semantic Maps for Mobile Robotics},
author = {Galindo, Cipriano and Saffiotti, Alessandro and Coradeschi, Silvia and Buschka, Par and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {http://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=pdf&f=downloads%2Fjafma%2Fpapers%2Fsemanticforiros.pdf},
year = {2005},
date = {2005-08-01},
booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'2005)},
address = {Edmonton (Canada)},
abstract = {The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2004
C. Galindo, J. Gonzalez-Jimenez, J.A. Fernández-Madrigal
Interactive Task planning through multiple abstraction: application to assistant robotics
16th European Conference on Artifical Intelligence, pp. 1015–1016, Valencia (Spain), 2004.
@inproceedings{galindo2004b,
title = {Interactive Task planning through multiple abstraction: application to assistant robotics},
author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
url = {http://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=pdf&f=downloads%2Fjafma%2Fpapers%2FFinal%20manuscript%20C0115%20%20ECAI2004.pdf},
year = {2004},
date = {2004-08-01},
booktitle = {16th European Conference on Artifical Intelligence},
pages = {1015--1016},
address = {Valencia (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
C. Galindo, J. Gonzalez-Jimenez, J.A. Fernández-Madrigal
Interactive Task Planning in Assistant Robotics
5th International IFAC Symposium on Autonomous Vehicles (IAV'04), Lisbon (Portugal), 2004.
@inproceedings{galindo2004c,
title = {Interactive Task Planning in Assistant Robotics},
author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
year = {2004},
date = {2004-07-01},
booktitle = {5th International IFAC Symposium on Autonomous Vehicles (IAV'04)},
address = {Lisbon (Portugal)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2002
J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Task-Driven, Multiple Abstraction for Modeling Mobile Robot Large-Scale Space
15th IFAC World Congress on Automatic Control, Barcelona (Spain), 2002.
@inproceedings{fernandezmadrigal2002e,
title = {Task-Driven, Multiple Abstraction for Modeling Mobile Robot Large-Scale Space},
author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
year = {2002},
date = {2002-07-01},
booktitle = {15th IFAC World Congress on Automatic Control},
address = {Barcelona (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
1998
J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Hierarchical Graph Search for Mobile Robot Path Planning
IEEE International Conference on Robotics and Automation (ICRA'98), Leuven (Belgium), 1998.
@inproceedings{fernandezmadrigal1998b,
title = {Hierarchical Graph Search for Mobile Robot Path Planning},
author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {http://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=pdf&f=downloads%2Fjafma%2Fpapers%2Ficra_ahgraph.pdf},
year = {1998},
date = {1998-05-01},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA'98)},
address = {Leuven (Belgium)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
PhD Theses (1)
2006
C. Galindo, J. Gonzalez-Jimenez, J.A. Fernández-Madrigal
A Multi-Hierarchical Symbolic Model of the Environment for Improving Mobile Robot Operation
PhD. Thesis in Computer Science, University of Malaga, 2006.
@phdthesis{galindo2006c,
title = {A Multi-Hierarchical Symbolic Model of the Environment for Improving Mobile Robot Operation},
author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/cgalindo/papers/Galindo_Thesis.pdf
http://hdl.handle.net/10630/10478},
year = {2006},
date = {2006-01-01},
school = {PhD. Thesis in Computer Science, University of Malaga},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
Technical Reports (7)
2013
J.A. Fernández-Madrigal, A. Cruz-Martín
Some experiments on the integration of symbolic and sub-symbolic learning based on imagery and abstraction
Centre for Robotic and Neural and Systems, CRNS, University of Plymouth (UK) Systems // Engineering and Automation Dpt., University of Málaga (Spain) 2013.
@techreport{fernandezmadrigal2013b,
title = {Some experiments on the integration of symbolic and sub-symbolic learning based on imagery and abstraction},
author = {Fernández-Madrigal, Juan-Antonio and Cruz-Martín, Ana},
year = {2013},
date = {2013-08-01},
institution = {Centre for Robotic and Neural and Systems, CRNS, University of Plymouth (UK) Systems // Engineering and Automation Dpt., University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
2007
J.A. Fernández-Madrigal, C. Galindo, J. Gonzalez-Jimenez
The Use of Semantics in a Classical Task Planning Framework for a Physical Agent
System Engineering and Automation Dpt - University of Málaga (Spain) 2007.
@techreport{fernandezmadrigal2007d,
title = {The Use of Semantics in a Classical Task Planning Framework for a Physical Agent},
author = {Fernández-Madrigal, Juan-Antonio and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
year = {2007},
date = {2007-07-01},
institution = {System Engineering and Automation Dpt - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
2004
J.A. Fernández-Madrigal
Probabilistic Robotics: A Tutorial
System Engineering and Automation Dpt. - University of Málaga (Spain) 2004.
@techreport{fernandezmadrigal2004c,
title = {Probabilistic Robotics: A Tutorial},
author = {Fernández-Madrigal, Juan-Antonio},
url = {https://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=ppt&f=downloads%2Fjafma%2Fpapers%2FProbabilistic%20Robotics.pps},
year = {2004},
date = {2004-10-01},
institution = {System Engineering and Automation Dpt. - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
2002
C. Galindo, J.A. Fernández-Madrigal, J. Gonzalez-Jimenez
Planificación de Tareas en Entornos Modelados con Jerarquías de Abstracción
System Engineering and Automation Dpt. - University of Málaga (Spain) 2002.
@techreport{galindo2002,
title = {Planificación de Tareas en Entornos Modelados con Jerarquías de Abstracción},
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
url = {https://babel.isa.uma.es/_utils/downloads/logdownloads.php?u=jafma&t=pdf&f=downloads%2Fjafma%2Fpapers%2Finftecnico_hplanning.pdf},
year = {2002},
date = {2002-01-01},
institution = {System Engineering and Automation Dpt. - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
1998
J.A. Fernández-Madrigal
An Algorithm which Approaches the Exact Solution for the Problem of Constructing a Hierarchical Graph that Satisfies the Sufficient Condition for Optimality
Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain) 1998.
@techreport{fernandezmadrigal1998i,
title = {An Algorithm which Approaches the Exact Solution for the Problem of Constructing a Hierarchical Graph that Satisfies the Sufficient Condition for Optimality},
author = {Fernández-Madrigal, Juan-Antonio},
year = {1998},
date = {1998-01-01},
institution = {Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
J.A. Fernández-Madrigal
An Expression for the Average Computational Cost of Path Searching in Hierarchical Graphs
Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain) 1998.
@techreport{fernandezmadrigal1998j,
title = {An Expression for the Average Computational Cost of Path Searching in Hierarchical Graphs},
author = {Fernández-Madrigal, Juan-Antonio},
year = {1998},
date = {1998-01-01},
institution = {Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
J.A. Fernández-Madrigal
Constructing a Hierarchical Graph Incrementally from a Flat Graph in Order to Perform Optimal, Efficient Path Searching
Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain) 1998.
@techreport{fernandezmadrigal1998h,
title = {Constructing a Hierarchical Graph Incrementally from a Flat Graph in Order to Perform Optimal, Efficient Path Searching},
author = {Fernández-Madrigal, Juan-Antonio},
year = {1998},
date = {1998-01-01},
institution = {Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
