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dc.contributor.authorGarrett, Caelan Reed
dc.contributor.authorLozano-Perez, Tomas
dc.contributor.authorKaelbling, Leslie P
dc.date.accessioned2017-10-03T18:36:12Z
dc.date.available2017-10-03T18:36:12Z
dc.date.issued2015-12
dc.identifier.isbn978-1-4799-9994-1
dc.identifier.urihttp://hdl.handle.net/1721.1/111683
dc.description.abstractIn 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.en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-14-1-0486)en_US
dc.description.sponsorshipUnited States. Air Force Office of Scientific Research (Grant FA23861014135)en_US
dc.description.sponsorshipUnited States. Army Research Office (Grant W911NF1410433)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2015.7354287en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT Web Domainen_US
dc.titleBackward-forward search for manipulation planningen_US
dc.typeArticleen_US
dc.identifier.citationGarrett, 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)en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.mitauthorGarrett, Caelan Reed
dc.contributor.mitauthorLozano-Perez, Tomas
dc.contributor.mitauthorKaelbling, Leslie P
dc.relation.journal2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsGarrett, Caelan Reed; Lozano-Perez, Tomas; Kaelbling, Leslie Packen_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-6474-1276
dc.identifier.orcidhttps://orcid.org/0000-0002-8657-2450
dc.identifier.orcidhttps://orcid.org/0000-0001-6054-7145
mit.licenseOPEN_ACCESS_POLICYen_US


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