iTaSC: Application and Rock Integration – Specification and Control of Complex Sensor-Based Tasks

Dennis Mronga

DFKI GmbH DFKI Documents (D) 14-03 14-03 ISBN ISSN 0946-0098 Selbstverlag, Bremen 6/2014.


On this poster an introduction to the iTaSC Software (instantaneous Task Specification using Constraints) is given. ITaSC helps the user to specify complex sensor-based robot tasks by separating them into more easily defined sub-problems, which are the constraints to an hierarchical optimization problem. The poster illustrates use-cases, mathematical background and experimental results, as well as the integration of iTaSC in the Rock framework.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz