A constraint-based method for solving sequential manipulation planning problems

被引:0
作者
Lozano-Perez, Tomas [1 ]
Kaelbling, Leslie Pack [1 ]
机构
[1] MIT, Artificial Intelligence Lab, Cambridge, MA 02139 USA
来源
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) | 2014年
关键词
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
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 constraintsatisfaction 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.
引用
收藏
页码:3684 / 3691
页数:8
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