Integrated Task Scheduling, Action Planning and Control for Autonomous Disinfection by a Mobile Robotic Manipulator
- Resource Type
- Conference
- Authors
- Ye, Jiajie; Sheng, Yongji; Wang, Siyu; Ma, Ye; Kwok, Chun; Wang, Qingyang; Xi, Ning
- Source
- 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Advanced Robotics and Automation (WRC SARA), 2023 WRC Symposium on. :60-65 Aug, 2023
- Subject
- Bioengineering
Computing and Processing
Robotics and Control Systems
Transportation
Temperature distribution
Robot kinematics
Manipulators
Robot sensing systems
Planning
Sensors
Synchronization
- Language
- ISSN
- 2835-3358
This paper presents an approach for solving a challenging problem in the integration of low-level system sensing and control with high-level task scheduling, planning and perception in mobile robotic manipulator systems for autonomous disinfection. First, a unified event-based reference will be introduced. Then, the approach will be implemented in the task of disinfection by a mobile manipulator. The task of disinfection involves both continuous and discrete events. The interactions between discrete and continuous actions will also be considered. The disinfection task in a multiple-object venue is used to illustrate the proposed approach. The experimental results demonstrate the advantages of this method.