| dc.contributor.author | Lozano-Perez, Tomas | |
| dc.contributor.author | Kaelbling, Leslie P. | |
| dc.date.accessioned | 2016-01-06T16:08:47Z | |
| dc.date.available | 2016-01-06T16:08:47Z | |
| dc.date.issued | 2014-09 | |
| dc.identifier.isbn | 978-1-4799-6934-0 | |
| dc.identifier.isbn | 978-1-4799-6931-9 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/100722 | |
| dc.description.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. | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant 019868) | en_US |
| dc.description.sponsorship | United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051) | en_US |
| dc.description.sponsorship | United States. Air Force Office of Scientific Research (Grant AOARD-104135) | en_US |
| dc.description.sponsorship | Singapore. Ministry of Education (SUTD-MIT International Design Centre) | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/IROS.2014.6943079 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
| dc.source | MIT web domain | en_US |
| dc.title | A constraint-based method for solving sequential manipulation planning problems | en_US |
| dc.type | Article | en_US |
| dc.identifier.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). | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | en_US |
| dc.contributor.mitauthor | Lozano-Perez, Tomas | en_US |
| dc.contributor.mitauthor | Kaelbling, Leslie P. | en_US |
| dc.relation.journal | Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems | en_US |
| dc.eprint.version | Author's final manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
| dspace.orderedauthors | Lozano-Perez, Tomas; Kaelbling, Leslie Pack | en_US |
| dc.identifier.orcid | https://orcid.org/0000-0002-8657-2450 | |
| dc.identifier.orcid | https://orcid.org/0000-0001-6054-7145 | |
| mit.license | OPEN_ACCESS_POLICY | en_US |
