Backward-forward search for manipulation planning
Author(s)
Garrett, Caelan Reed; Lozano-Perez, Tomas; Kaelbling, Leslie P
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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.
Date issued
2015-12Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence LaboratoryJournal
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
ISBN
978-1-4799-9994-1