iTaSC: Application and Rock Integration – Specification and Control of Complex Sensor-Based Tasks
Dennis Mronga
In Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control", 19.6.2014, Selbstverlag, Bremen, series DFKI Documents, volume 14-03 , number 14-03, pages 126-127, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.
Zusammenfassung (Abstract)
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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.
