Towards knowledge-based robotics systems

A spatial planning technique is examined whereby the robot system plans in a general space which greatly enhances the flexibility of manipulator operation by leaving resolution of trajectory and placement minutae to “motion execution time”. This permits the robot planning system to deal with elements in the working environment which are in continuous or semi-continuous motion, as well as those normally considered to be at rest. A multi-modal representation and Knowledge-Base (KB) are used.