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

Dennis Mronga

DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence