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Task sequencing for sensor-based control

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Academic year: 2021

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Figure

Figure 1 sums up the architecture.
Fig. 2. Computation example for the two criteria. Three subtasks are in the stack. The robot is located at the starting point of the three task vectors
Fig. 3. Reaching the convergence domain. The look-ahead controller starts and stops several times, until the convergence domain is properly reached.
Fig. 4. Example of the interest of the look-ahead controller for the execution environment presented in Fig
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