TY  - GEN
A1  - Lagriffoul, Fabien
A1  - Andres, Benjamin
T1  - Combining task and motion planning
BT  - a culprit detection problem
T2  - The international journal of robotics research
N2  - Solving problems combining task and motion planning requires searching across a symbolic search space and a geometric search space. Because of the semantic gap between symbolic and geometric representations, symbolic sequences of actions are not guaranteed to be geometrically feasible. This compels us to search in the combined search space, in which frequent backtracks between symbolic and geometric levels make the search inefficient. We address this problem by guiding symbolic search with rich information extracted from the geometric level through culprit detection mechanisms.
T3  - Zweitveröffentlichungen der Universität Potsdam : Mathematisch-Naturwissenschaftliche Reihe - 422 
KW  - combined task and motion planning
KW  - manipulation planning
Y1  - 2018
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:kobv:517-opus4-405126
VL  - 35
IS  - 8
ER  -