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—blog:cram_plan_transformation [2018/05/18 14:29] – arthur
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 +====== CRAM Plan Transformation ======
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 +<html><div style="float:right; margin-left:10px;"><iframe width="320" height="215" src="https://www.youtube.com/embed/ilw52eAyuJQ" frameborder="0" allowfullscreen></iframe></div></html>
 +Over the last decades, plan transformation has been pursued by various researchers. Lately the CRAM system has been enhanced, to make the application of transformation rules on executed plans an easy process. The video above explains three possible transformations in a real world pick & place environment. By analyzing the task tree of an executed CRAM plan, improvable patterns are found and altered to generate a better performing plan.
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 +{{tag>Transformation}}
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