@inproceedings{ bridge,
  author = {O. Caldiran and K. Haspalamutgil and A. Ok and C. Palaz and E. Erdem and V. Patoglu}
}
,
  title = {From Discrete Task Plans to Continuous Trajectories}
}
,
  booktitle = {Proc. of the 19th International Conference on Automated Planning and Scheduling (ICAPS'09) Workshop, Bridging The Gap Between Task And Motion Planning}
}
,
  urln = {btamp09.pdf}
}
,
  year = {2009}
}
,
  abstract = {We present a logic-based framework to provide robots with high-level reasoning, such as planning. This framework uses the action description language C+ to represent actions and changes, and the system CCALC to reason about them. In particular, we can represent action domains that involve concurrent actions and additive fluents; based on this description, we can compute shortest plans to a planning problem that involves cost constraints. We show the applicability of this framework on two LEGO MINDSTORMS NXT robots: we compute a discrete task plan (possibly with concurrency) with a cost less than a specified value, and transform this plan into a continuous collision-free trajectory.}
}