IEEE Robotics & Automation Magazine - September 2018 - 64

that the object is on the table and the effect that the object is
in the robot's hand. The "Task Domain" section describes our
implementation of task domains, and Figure 3 provides a
complete example of the pick-up action with preconditions
and effects.
Motion domain: The motion domain defines the threedimensional (3-D) positions of objects in the environment,
the kinematic structure of robot joints, and the geometry, i.e.,
meshes, of objects and robot links. Collectively, we call the
robot and environment the scene and the tree or graph of the
local coordinate frames of environmental objects and robot
links the scene graph, which defines the configuration space of
a robot. For a given configuration, computing the forward
kinematics of each frame in the scene graph provides the
mesh positions; then, specialized collision checkers [18] determine whether those positions are in collision.
We specify both an initial scene, consisting of the robot
and the environment, and a goal scene for the planner.
Then we map from these scenes to task states using the
domain semantics.

Domain semantics: The domain semantics define the coupling between the discrete task domain and the continuous
motion domain. Two types of functions are necessary. First,
we need a function to map from a scene graph to a discrete
state for the task planner. For example, if the scene graph
defines some object a's position relative to the robot's hand,
the domain semantics would set to "true" a discrete variable
holding-a, indicating that the robot is holding object a.
Second, we need a function to map from a discrete task action
to a motion planning problem (start and goal states) for the
motion planner. For example, the pick-up action would
start at the robot's current configuration and move to a goal
that is a grasping configuration for the object to be picked up.
The "TMP" section discusses our implementation of the
domain semantics.
TM Planner
The TM planner finds the sequence of discrete task actions
from the task domain and their corresponding motion
plans-based on the domain semantics-that will take the

TM Planner

Task Domain

Candidate Task Plan
Task
Planner
(Using Z3)

Motion
Planner
(Using OMPL)

Motion Feasibility Constraints

Motion Domain

Domain Semantics
TM Plan

Figure 3. A TM planner implementation diagram, showing fragments of the planner's input (i.e., the task domain, domain semantics,
and motion domain) and output (i.e., the TM plan). OMPL: Open Motion Planning Library.

64

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

september 2018



IEEE Robotics & Automation Magazine - September 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018

Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
IEEE Robotics & Automation Magazine - September 2018 - 2
IEEE Robotics & Automation Magazine - September 2018 - 3
IEEE Robotics & Automation Magazine - September 2018 - 4
IEEE Robotics & Automation Magazine - September 2018 - 5
IEEE Robotics & Automation Magazine - September 2018 - 6
IEEE Robotics & Automation Magazine - September 2018 - 7
IEEE Robotics & Automation Magazine - September 2018 - 8
IEEE Robotics & Automation Magazine - September 2018 - 9
IEEE Robotics & Automation Magazine - September 2018 - 10
IEEE Robotics & Automation Magazine - September 2018 - 11
IEEE Robotics & Automation Magazine - September 2018 - 12
IEEE Robotics & Automation Magazine - September 2018 - 13
IEEE Robotics & Automation Magazine - September 2018 - 14
IEEE Robotics & Automation Magazine - September 2018 - 15
IEEE Robotics & Automation Magazine - September 2018 - 16
IEEE Robotics & Automation Magazine - September 2018 - 17
IEEE Robotics & Automation Magazine - September 2018 - 18
IEEE Robotics & Automation Magazine - September 2018 - 19
IEEE Robotics & Automation Magazine - September 2018 - 20
IEEE Robotics & Automation Magazine - September 2018 - 21
IEEE Robotics & Automation Magazine - September 2018 - 22
IEEE Robotics & Automation Magazine - September 2018 - 23
IEEE Robotics & Automation Magazine - September 2018 - 24
IEEE Robotics & Automation Magazine - September 2018 - 25
IEEE Robotics & Automation Magazine - September 2018 - 26
IEEE Robotics & Automation Magazine - September 2018 - 27
IEEE Robotics & Automation Magazine - September 2018 - 28
IEEE Robotics & Automation Magazine - September 2018 - 29
IEEE Robotics & Automation Magazine - September 2018 - 30
IEEE Robotics & Automation Magazine - September 2018 - 31
IEEE Robotics & Automation Magazine - September 2018 - 32
IEEE Robotics & Automation Magazine - September 2018 - 33
IEEE Robotics & Automation Magazine - September 2018 - 34
IEEE Robotics & Automation Magazine - September 2018 - 35
IEEE Robotics & Automation Magazine - September 2018 - 36
IEEE Robotics & Automation Magazine - September 2018 - 37
IEEE Robotics & Automation Magazine - September 2018 - 38
IEEE Robotics & Automation Magazine - September 2018 - 39
IEEE Robotics & Automation Magazine - September 2018 - 40
IEEE Robotics & Automation Magazine - September 2018 - 41
IEEE Robotics & Automation Magazine - September 2018 - 42
IEEE Robotics & Automation Magazine - September 2018 - 43
IEEE Robotics & Automation Magazine - September 2018 - 44
IEEE Robotics & Automation Magazine - September 2018 - 45
IEEE Robotics & Automation Magazine - September 2018 - 46
IEEE Robotics & Automation Magazine - September 2018 - 47
IEEE Robotics & Automation Magazine - September 2018 - 48
IEEE Robotics & Automation Magazine - September 2018 - 49
IEEE Robotics & Automation Magazine - September 2018 - 50
IEEE Robotics & Automation Magazine - September 2018 - 51
IEEE Robotics & Automation Magazine - September 2018 - 52
IEEE Robotics & Automation Magazine - September 2018 - 53
IEEE Robotics & Automation Magazine - September 2018 - 54
IEEE Robotics & Automation Magazine - September 2018 - 55
IEEE Robotics & Automation Magazine - September 2018 - 56
IEEE Robotics & Automation Magazine - September 2018 - 57
IEEE Robotics & Automation Magazine - September 2018 - 58
IEEE Robotics & Automation Magazine - September 2018 - 59
IEEE Robotics & Automation Magazine - September 2018 - 60
IEEE Robotics & Automation Magazine - September 2018 - 61
IEEE Robotics & Automation Magazine - September 2018 - 62
IEEE Robotics & Automation Magazine - September 2018 - 63
IEEE Robotics & Automation Magazine - September 2018 - 64
IEEE Robotics & Automation Magazine - September 2018 - 65
IEEE Robotics & Automation Magazine - September 2018 - 66
IEEE Robotics & Automation Magazine - September 2018 - 67
IEEE Robotics & Automation Magazine - September 2018 - 68
IEEE Robotics & Automation Magazine - September 2018 - 69
IEEE Robotics & Automation Magazine - September 2018 - 70
IEEE Robotics & Automation Magazine - September 2018 - 71
IEEE Robotics & Automation Magazine - September 2018 - 72
IEEE Robotics & Automation Magazine - September 2018 - 73
IEEE Robotics & Automation Magazine - September 2018 - 74
IEEE Robotics & Automation Magazine - September 2018 - 75
IEEE Robotics & Automation Magazine - September 2018 - 76
IEEE Robotics & Automation Magazine - September 2018 - 77
IEEE Robotics & Automation Magazine - September 2018 - 78
IEEE Robotics & Automation Magazine - September 2018 - 79
IEEE Robotics & Automation Magazine - September 2018 - 80
IEEE Robotics & Automation Magazine - September 2018 - 81
IEEE Robotics & Automation Magazine - September 2018 - 82
IEEE Robotics & Automation Magazine - September 2018 - 83
IEEE Robotics & Automation Magazine - September 2018 - 84
IEEE Robotics & Automation Magazine - September 2018 - 85
IEEE Robotics & Automation Magazine - September 2018 - 86
IEEE Robotics & Automation Magazine - September 2018 - 87
IEEE Robotics & Automation Magazine - September 2018 - 88
IEEE Robotics & Automation Magazine - September 2018 - 89
IEEE Robotics & Automation Magazine - September 2018 - 90
IEEE Robotics & Automation Magazine - September 2018 - 91
IEEE Robotics & Automation Magazine - September 2018 - 92
IEEE Robotics & Automation Magazine - September 2018 - 93
IEEE Robotics & Automation Magazine - September 2018 - 94
IEEE Robotics & Automation Magazine - September 2018 - 95
IEEE Robotics & Automation Magazine - September 2018 - 96
IEEE Robotics & Automation Magazine - September 2018 - 97
IEEE Robotics & Automation Magazine - September 2018 - 98
IEEE Robotics & Automation Magazine - September 2018 - 99
IEEE Robotics & Automation Magazine - September 2018 - 100
IEEE Robotics & Automation Magazine - September 2018 - 101
IEEE Robotics & Automation Magazine - September 2018 - 102
IEEE Robotics & Automation Magazine - September 2018 - 103
IEEE Robotics & Automation Magazine - September 2018 - 104
IEEE Robotics & Automation Magazine - September 2018 - 105
IEEE Robotics & Automation Magazine - September 2018 - 106
IEEE Robotics & Automation Magazine - September 2018 - 107
IEEE Robotics & Automation Magazine - September 2018 - 108
IEEE Robotics & Automation Magazine - September 2018 - 109
IEEE Robotics & Automation Magazine - September 2018 - 110
IEEE Robotics & Automation Magazine - September 2018 - 111
IEEE Robotics & Automation Magazine - September 2018 - 112
IEEE Robotics & Automation Magazine - September 2018 - 113
IEEE Robotics & Automation Magazine - September 2018 - 114
IEEE Robotics & Automation Magazine - September 2018 - 115
IEEE Robotics & Automation Magazine - September 2018 - 116
IEEE Robotics & Automation Magazine - September 2018 - Cover3
IEEE Robotics & Automation Magazine - September 2018 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com