A Hierarchical Control Architecture for Robust and Adaptive Collaborative Robot Task Execution

Abstract

Robot task representation typically involves a sequential set of steps. This methodology does not generalize to complex real-world tasks. Real-world tasks involve multiple paths of execution, where intra-task dependencies allow for different methods to complete the same task. Representing such complex tasks compactly poses a challenge as enumerating all… (More)

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Cite this paper

@inproceedings{Fraser2016AHC, title={A Hierarchical Control Architecture for Robust and Adaptive Collaborative Robot Task Execution}, author={Luke Fraser and Banafsheh Rekabdar and Monica N. Nicolescu and Mircea Nicolescu and David Feil-Seifer}, year={2016} }