eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs

@article{Aertbelin2014eTaSLeTCAC,
  title={eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs},
  author={Erwin Aertbeli{\"e}n and Joris De Schutter},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={1540-1546}
}
This paper presents a new framework for constraint-based task specification of robot controllers. A task specification language (eTaSL) is defined as well as a corresponding implementation of a controller (eTC). This new framework is based on feature variables and a new concept referred to as expression graphs. It avoids some of the common pitfalls in previous frameworks, and provides a flexible and composable way to define robot control tasks. An architecture for a robot controller is proposed… CONTINUE READING
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