Appendix: Description Logic (DL) primer (Appendix.pdf)
Snapshot shows the sequence of actions required for assemble the Battat plane (diagram)
Knowledge-based motion planning (mpk.owl)
Perception and Manipulation Knowledge Framework (pmk.owl)
Knowledge-based task and motion planning (tmp.owl and diagram)
task and motion planning for mobile manipulation (video)
task and motion planning with push action (video)
task and motion planning for the Block World problem (video)
task and motion planning for the Hanoi problem (video)
Problem1: there are two robots which have to be located in the goal region and they need to manipulate several objects in order to reach the target region: Initial Scene, Graph Connectivity, Initial Parameters (Position, mass, motion planning time, etc), and video.
Problem2: there are three robots that robots 1 and 3 have to be located in the goal region 1 and robot 2 has to be located in the goal region 2: Initial Scene, Graph Connectivity, and Initial Parameters (Position, mass, motion planning time, etc).
Problem3: there are four robots that robots 1 and 3 have to be located in the goal region 1, robot 2 has to be located in the goal region 2, and robot 4 must travel to the goal region 3 : Initial Scene, Graph Connectivity, and Initial Parameters (Position, mass, motion planning time, etc).
Problem4: there are five robots that robots 1 and 4 have to be located in the goal region 1, robot 2 must be in the goal region 4, robot 3 has to travel to the goal region 3, and robot 5 has to be in the goal region 2 : Initial Scene, Graph Connectivity, Initial Parameters (Position, mass, motion planning time, etc), and video.