Ali Akbari

Ali Akbari
Dyson

PhD in Robotics

About

36
Publications
12,912
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
405
Citations
Introduction
I am a researcher in Robotics. I have been working on "Combining Task and Motion Planning for Mobile Manipulators". I developed a number of combined task and motion planning approaches using ontological knowledge and physics-based motion planning. The works have been implemented for YuMi-ABB, TIAGo-PAL, and KUKA-LWR robots. More information can be found here: https://www.aliakbari.info
Additional affiliations
November 2015 - November 2018
Universitat Politècnica de Catalunya
Position
  • Research Associate

Publications

Publications (36)
Article
Autonomous exploration tasks become highly challenging in subterranean applications due to the constraints imposed by the nature of the environments (e.g., dead-end branches, unstructured regions, narrow passages and bifurcations). Robots need to constantly balance their exploration objectives with measures to ensure safety. To address these challe...
Article
Full-text available
The inspection of legacy mine workings is a difficult, time consuming, costly task, as traditional methods require multiple boreholes to be drilled to allow sensors to be placed in the voids. Discrete sampling of the void from static locations also means that full coverage of the area cannot be achieved and occluded areas and side tunnels may not b...
Conference Paper
Full-text available
Autonomous navigation and exploration in confined spaces are currently setting new challenges for robots. The presence of narrow passages, flammable atmosphere, dust, smoke, and other hazards makes the mapping and navigation tasks extremely difficult. To tackle these challenges, robots need to make intelligent decisions, maximising information whil...
Article
Full-text available
One of the problems that service robotics deals with is to bring mobile manipulators to work in semi-structured human scenarios, which requires an efficient and flexible way to execute everyday tasks, like serve a cup in a cluttered environment. Usually, for those tasks, the combination of symbolic and geometric levels of planning is necessary, as...
Article
Full-text available
Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge....
Chapter
Full-text available
Autonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involves manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phases, several sources of failures can occur. In this paper, an interpretation ontology covering several sources of failures in automated planning...
Article
Full-text available
Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordingly, a heuristic-based task and motion planning a...
Article
Full-text available
Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these...
Chapter
Full-text available
The recent advancements in robotic systems set new challenges for robotic simulation software, particularly for planning. It requires the realistic behavior of the robots and the objects in the simulation environment by incorporating their dynamics. Furthermore, it requires the capability of reasoning about the action effects. To cope with these ch...
Article
Full-text available
Robotic systems composed of several mobile robots moving in human environments pose several problems at perception, planning and control levels. In these environments, there may be obstacles obstructing the paths, which robots can remove by pushing or pulling them. At planning level, therefore, an efficient combination of task and motion planning i...
Article
Full-text available
Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setti...
Article
Full-text available
We present the first platform-independent evaluation method for Task and Motion Planning (TAMP). Up to this point, various problems have been used to test individual planners for specific aspects of TAMP. However, no common set of metrics, formats, and problems have been accepted by the community. We propose a set of benchmark problems covering the...
Conference Paper
Full-text available
Manipulation planning in human environments is one of the challenging areas in robotics research. It is focused on making the robot capable of performing complex manipulation tasks, which requires manipulation planning capabilities in cluttered and unstructured environments. These capabilities need, on the one hand, a rich semantic description of t...
Conference Paper
Full-text available
Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a kn...
Conference Paper
Full-text available
The recent advancements in robotic systems set new challenges for robotic simulation software, particularly for planning. It requires the realistic behavior of the robots and the objects in the simulation environment by incorporating their dynamics. Furthermore, it requires the capability of reasoning about the action effects. To cope with these ch...
Article
Full-text available
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for planning this type of actions. However, physics-based motion planning is computationally intensive due to the...
Chapter
Full-text available
In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion planners that consider the purposeful manipulation of objects. In this context, the representation of knowledge regarding how the...
Conference Paper
Full-text available
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Conference Paper
Full-text available
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Article
Full-text available
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Conference Paper
Full-text available
In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a...
Conference Paper
Full-text available
This work presents a knowledge-based task and motion planning framework based on a version of the Fast-Forward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics-based motion planner, is proposed to evaluate the applicability and feasibility...
Chapter
To cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the present paper first represents the manipulation problem, involving knowledge about the world and the planning phase, in the form of...
Conference Paper
Full-text available
To cope with the growing complexity of manipulation tasks, the way to combine and access information from high-and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the present paper first represents the manipulation problem , involving knowledge about the world and the planning phase, in the form of...
Conference Paper
Full-text available
Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria for evaluating physics-based motion planners goes beyond the computational complexity (e.g. in terms of planning time) usually...
Conference Paper
Full-text available
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for planning this type of actions. However, physics-based motion planning is computationally intensive due to the...
Conference Paper
Full-text available
For everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative plans may exist, the determination of their feasibility and the identification of the best one is a great challenge in robotics. T...
Conference Paper
Full-text available
Radio-Frequency Identification (RFID) has emerged as a notable technology among industrial manufacturers to develop automation systems. It caters the unique identification number with conforming international global standards for each tagged object which is traced. The aim of the present study is to contribute a framework based on RFID application...
Conference Paper
Full-text available
Recently, automated identification system has been playing an important role in industry for different types of process and there are different ways, ex. applying Radio Frequency Identification (RFID) or barcode scanner to detect tagged items. This study is going to evaluate significant difference of RFID system and barcode scanner for the manufact...
Conference Paper
Full-text available
Structural Health Monitoring (SHM) plays an extremely substantial role in various structures in terms of collecting observation of environmental conditions as well as detecting failures. The present study demonstrates the algorithm for the process of SHM by applying integration of Radio Frequency Identification (RFID) system with sensor-tags in ord...
Conference Paper
Full-text available
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degre...
Article
Full-text available
In today's demanding market, flexibility and reconfigurability play an important role in manufacturing industries. This can be achieved by employing distributed control system such as International Electrotechnical Committee 61499 function block, which is a new standard adopted for industrial-process measurement and control system. On the other han...
Conference Paper
Full-text available
Radio Frequency Identification (RFID) system is used for detecting and identifying the tagged objects by electromagnetic signals. Wireless Sensor Networks (WSN), which consists of a huge numbers of nodes, can monitor the condition of the environment including pressure, humidity, and temperature. Data is transferred via nodes to a certain location....

Network

Cited By

Projects

Projects (3)
Project
The cutting edge of advanced AI planning and robotics for the inspection of subterranean environments. The goal of the project is to develop a fully autonomous robot being capable of exploring unknown areas of the environments. The project is funded by Innovate UK and in collaboration with Thales UK, Headlight AI, Callen-Lenz, Network Rail, University of Bristol and University of Manchester. Check it out here: https://prometheusdrone.co.uk
Project
The aim of the project is to establish the knowledge-based reasoning framework to enhance the task and motion planning for manipulation problems.
Project
To develop a motion planning simulator for industrial manipulators that will use knowledge-based reasoning to guide the robot for planning in complex environment.