Abstract
The recent advancements in robotic systems set new challenges for robotic simulation software, particularly for planning. It requires the realistic behavior of the robots and the objects in the simulation environment by incorporating their dynamics. Furthermore, it requires the capability of reasoning about the action effects. To cope with these challenges, this study proposes an open-source simulation tool for knowledge-oriented physics-based motion planning by extending The Kautham Project, a C++-based open-source simulation tool for motion planning. The proposed simulation tool provides a flexible way to incorporate the physics, knowledge, and reasoning in planning process. Moreover, it provides ROS-based interface to handle the manipulation actions (such as push/pull) and an easy way to communicate with the real robots.
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Acknowledgment
The work of the authors was partially supported by the Spanish Government through the projects DPI2013-40882-P and DPI2016-80077-R.
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Gillani, M., Akbari, A., Rosell, J., Qazi, W.M. (2019). A Tool for Knowledge-Oriented Physics-Based Motion Planning and Simulation. In: Jan, M., Khan, F., Alam, M. (eds) Recent Trends and Advances in Wireless and IoT-enabled Networks. EAI/Springer Innovations in Communication and Computing. Springer, Cham. https://doi.org/10.1007/978-3-319-99966-1_29
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DOI: https://doi.org/10.1007/978-3-319-99966-1_29
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