Geometrical Interpretation and Detection of Multiple Task Conflicts using a Coordinate Invariant Index
Vincenzo Schettino,Mario D. Fiore,Claudia Pecorella,Fanny Ficuciello,Felix Allmendinger,Johannes Lachner,Stefano Stramigioli,Bruno Siciliano,Vincenzo Schettino,Mario D. Fiore,Claudia Pecorella,Fanny Ficuciello,Felix Allmendinger,Johannes Lachner,Stefano Stramigioli,Bruno Siciliano
Modern robots act in dynamic and partially unknown environments where path replanning can be mandatory if changes in the environment are observed. Task-prioritized control strategies are well known and effective solutions to ensure local adaptation of robot behaviour. The highest priority in a stack of tasks is typically given to the management of correct robot operation or safe interaction with t...
