A constraint-based method for solving sequential manipulation planning problems
Author(s)Lozano-Perez, Tomas; Kaelbling, Leslie P.
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Institute of Electrical and Electronics Engineers (IEEE)
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).
Author's final manuscript