Backward-forward search for manipulation planning
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Lozano-Perez_Backward-forward.pdf
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587.76 KB
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Author(s)
Garrett, Caelan Reed
Lozano-Perez, Tomas
Kaelbling, Leslie P
Date Issued
December 2015
Journal
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Garrett, Caelan Reed et al. “Backward-Forward Search for Manipulation Planning.” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 2 2015, Hamburg, Germany, Institute of Electrical and Electronics Engineers (IEEE), December 2015: 6366-6373 © Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct the sampling of the infinite action space in a forward search from the initial state towards a goal configuration. The resulting planner is probabilistically complete and can effectively construct long manipulation plans requiring both prehensile and nonprehensile actions in cluttered environments.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/IROS.2015.7354287
