Abstract:
In this paper, we describe a strategy for integrated task and motion planning based on performing a symbolic search for a sequence of high-level operations, such as pick,...Show MoreMetadata
Abstract:
In this paper, we describe a strategy for integrated task and motion planning based on performing a symbolic search for a sequence of high-level operations, such as pick, move and place, while postponing geometric decisions. Partial plans (skeletons) in this search thus pose a geometric constraint-satisfaction problem (CSP), involving sequences of placements and paths for the robot, and grasps and locations of objects. We propose a formulation for these problems in a discretized configuration space for the robot. The resulting problems can be solved using existing methods for discrete CSP.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: