A constraint-based method for solving sequential manipulation planning problems
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Kaelbling_A constraint.pdf
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2.24 MB
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Author(s)
Lozano-Perez, Tomas
Kaelbling, Leslie P.
Date Issued
September 2014
Journal
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Lozano-Perez, Tomas, and Leslie Pack Kaelbling. “A Constraint-Based Method for Solving Sequential Manipulation Planning Problems.” 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2014).
Version
Author's final manuscript
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2014.6943079
