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Auflistung nach Autor:in "Hartanto, Ronny"

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  • Zeitschriftenartikel
    Fusing DL Reasoning with HTN Planning
    (KI - Künstliche Intelligenz: Vol. 25, No. 1, 2011) Hartanto, Ronny
    Action planning has been used in the field of robotics for solving long-running tasks. However, the definition of a planning problem for a complex, real-world robot is not trivial. The planning process could become intractable as its search spaces become large. The dissertation presented in this article introduces a novel approach which amalgamates Description Logic (dl) reasoning with Hierarchical Task Network (htn) planning. The planning domain description as well as fundamental htn planning concepts are represented in dl and can therefore be subject to dl reasoning; from these representations, concise planning problems are generated for htn planning.
  • Konferenzbeitrag
    Infield path planning for autonomous unloading vehicles
    (Massendatenmanagement in der Agrar- und Ernährungswirtschaft – Erhebung – Verarbeitung – Nutzung, 2013) Scheuren, Stephan; Hertzberg, Joachim; Stiene, Stefan; Hartanto, Ronny
    In agricultural harvesting processes, the infield logistics of transporting the crop from the harvesters' tanks to a street transporter at the field border with an unloading vehicle is challenging. The harvesters have to be unloaded while driving and in time to prevent the loss of expensive process time. The path planning for the unloading vehicle has to consider the unharvested area as a dynamic obstacle and cope with additional constraints like the harvester's kinematics, dynamics and its unloading direction. We present an approach for infield path planning for autonomous unloading vehicles that tackles these problems.
  • Zeitschriftenartikel
    Spatio-Temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario
    (KI - Künstliche Intelligenz: Vol. 27, No. 4, 2013) Scheuren, Stephan; Stiene, Stefan; Hartanto, Ronny; Hertzberg, Joachim; Reinecke, Max
    The marion project aims at automatizing the working processes in the intralogistics and agriculture through process and motion planning of mobile cooperative machines. This paper focuses on the agricultural scenario of wheat harvest. The harvesting process with cooperative machines is a challenging task because the machines’ actions influence and constrain each other spatio-temporally. In marion, algorithms from robotics are adapted to solve the planning problem under the basic conditions of high dynamics in process execution due to yield deviation and limited communication bandwidth of the radio communication. The developed planning system generates and optimizes the overall plan for all involved cooperative machines regarding multiple criteria.