Design of an Artificial Intelligence Based Automatic Task Planner or a Robotic System
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32870
Design of an Artificial Intelligence Based Automatic Task Planner or a Robotic System

Authors: T. C. Manjunath, C. Ardil


This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interfaced to the computer. When the instructions are given using the computer, this is transformed into real time application using the robot. All the AI based algorithms are written and saved in the control software, which acts as the intelligent task planning system.

Keywords: AI, Robot, Task Planner, RT, Algorithm, Specs, Controller.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 590


[1]. Robert, J.S., “Fundamentals of Robotics : Analysis and Control”, PHI, New Delhi., 1992.
[2]. Klafter, Thomas and Negin, “Robotic Engineering”, PHI, New Delhi, 1990.
[3]. Fu, Gonzalez and Lee, “Robotics : Control, Sensing, Vision and Intelligence”, McGraw Hill, Singapore, 1995.
[4]. Ranky, P. G., C. Y. Ho, “Robot Modeling, Control & Applications”, IFS Publishers, Springer, UK., 1998.
[5]. T.C.Manjunath, “Fundamentals of Robotics”, Nandu Publishers, 5th Revised Edition, Mumbai., 2005.
[6]. T.C.Manjunath, “Fast Track To Robotics”, Nandu Publishers, 3nd Edition, Mumbai, 2005.
[7]. Ranky, P. G., C. Y. Ho, “Robot Modeling, Control & Applications”, IFS Publishers, Springer, UK, 2005.
[8]. Groover, Weiss, Nagel and Odrey, Industrial Robotics, McGraw Hill, Singapore, 2000.
[9]. William Burns and Janet Evans, “Practical Robotics – Systems, Interfacing, Applications”, Reston Publishing Co., 2000.
[10]. Phillip Coiffette, “Robotics Series, Volume I to VIII, Kogan Page, London, UK, 1995.
[11]. Luh, C.S.G., M.W. Walker, and R.P.C. Paul, “On-line computational scheme for mechanical manipulators”, Journal of Dynamic Systems, Measurement & Control, Vol. 102, pp. 69-76, 1998.
[12]. Mohsen Shahinpoor, “A Robotic Engineering Text Book”, Harper and Row Publishers, UK.
[13]. Janakiraman, “Robotics and Image Processing”, Tata McGraw Hill.
[14]. Richard A Paul, “Robotic Manipulators”, MIT press, Cambridge.
[15]. Fairhunt, “Computer Vision for Robotic Systems”, New Delhi.
[16]. Yoram Koren, “Robotics for Engineers”, McGraw Hill.
[17]. Bernard Hodges, “Industrial Robotics”, Jaico Publishing House, Mumbai, India.
[18]. Tsuneo Yoshikawa, “Foundations of Robotics : Analysis and Control”, PHI.
[19]. Dr. Jain and Dr. Aggarwal, “Robotics : Principles & Practice”, Khanna Publishers, Delhi.
[20]. Lorenzo and Siciliano, “Modeling and Control of Robotic Manipulators”, McGraw Hill.
[21]. Dr. Amitabha Bhattacharya, “Mechanotronics of Robotics Systems”.
[22]. S.R. Deb, “Industrial Robotics”, Tata McGraw Hill, New Delhi, India.
[23]. Edward Kafrissen and Mark Stephans, “Industrial Robots and Robotics”, Prentice Hall Inc., Virginia.
[24]. Rex Miller, “Fundamentals of Industrial Robots and Robotics, PWS Kent Pub Co., Boston.
[25]. Doughlas R Malcom Jr., “Robotics … An introduction”, Breton Publishing Co., Boston.
[26]. Wesseley E Synder, “Industrial Robots : Computer Interfacing and Control”, Prentice Hall.
[27]. Carl D Crane and Joseph Duffy, “Kinematic Analysis of Robot Manipulators”, Cambridge Press, UK.
[28]. C Y Ho and Jen Sriwattamathamma, “Robotic Kinematics … Symbolic Automatic and Numeric Synthesis”, Alex Publishing Corp, New Jersey.
[29]. Francis N Nagy, “Engineering Foundations of Robotics”, Andreas Siegler, Prentice Hall.
[30]. William Burns and Janet Evans, “Practical Robotics - Systems, Interfacing, Applications”, Reston Publishing Co.
[31]. Robert H Hoekstra, “Robotics and Automated Systems”.
[32]. Lee C S G, “Robotics , Kinematics and Dynamics”.
[33]. Gonzalez and Woods, “Digital Image Processing”, Addison Wesseley.
[34]. Anil K Jain, “Digital Image Processing”, PHI.
[35]. Joseph Engelberger, “Robotics for Practice and for Engineers”, PHI, USA.
[36]. Yoshikawa T., “Analysis and Control of Robot Manipulators with Redundancy”, Proc. First Int. Symp. on Robotics Research, Cambridge, MIT Press, pp. 735-748, 1984.
[37]. Whitney DE., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators”, Trans. ASM J. Dynamic Systems, Measurements and Control, Vol. 122, pp. 303-309, 1972.
[38]. Whitney DE., “Resolved Motion Rate Control of Manipulators and Human Prostheses”, IEEE Trans. Syst. Man, Cybernetics, Vol. MMS-10, No. 2, pp. 47-53, 1969.
[39]. Lovass Nagy V, R.J. Schilling, “Control of Kinematically Redundant Robots Using {1}-inverses”, IEEE Trans. Syst. Man, Cybernetics, Vol. SMC-17, No. 4, pp. 644-649, 1987.
[40]. Lovass Nagy V., R J Miller and D L Powers, “An Introduction to the Application of the Simplest Matrix-Generalized Inverse in Systems Science”, IEEE Trans. Circuits and Systems, Vol. CAS- 25, No. 9, pp. 776, 1978.
[41]. Argyros A., Geordiadis P., Trahanias P., and Tsakiris D., ‘Semiautonomous navigation of a robotic wheelchair’, Intelligent and Robotic Systems, 34, 315–329, (2002).
[42]. Lankenau A. and Röfer T.A., ‘A versatile and safe mobility assistant’, Robotics and Automation Magazine, 8(1), (March 2001).
[43]. Kuipers B.J., ‘The spatial semantic hierarchy, in artificial intelligence’, Artificial Intelligence, 119, 191–233, (2000).
[44]. Galindo C., Fernandez J.A., and Gonzalez J., ‘Improving efficiency in mobile robot task planning through world abstraction’, IEEE Transaction on Robotics and Automation.
[45]. Fernandez J.A. and Gonzalez J., Multi-Hierarchical Representation of Large-Scale Space, Kluwer Academic Publishers, 2001.
[46]. Fernandez J.A. and Gonzalez J., ‘Multihierarchical graph search’, IEEE Transaction on Pattern Analysis and Matching, 24(1), (2002).
[47]. Hirtle S.C. and Jonides J., ‘Evidence of hierarchies in cognitive maps’, Memory and Cognition, 13(3), 208–217, (1985).
[48]. Yuchul Jung, Yong K. Hwang, Manjai Lee, “Case-Based Reasoning Approach toTask Planning of Home-Service Robots”, ICAT 2004.
[49]. Roman Zahariev, Dimitar Karastoyanov, “A Navigation System and Task Planning in a Mobile Robot for Inspection”, Bulgarian academy of sciences, Conference paper, 2004.