Combining task and motion planning
- 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.
Author details: | Fabien LagriffoulORCiDGND, Benjamin Andres |
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DOI: | https://doi.org/10.1177/0278364915619022 |
ISSN: | 1741-3176 |
ISSN: | 0278-3649 |
Title of parent work (English): | The international journal of robotics research |
Subtitle (English): | A culprit detection problem |
Publisher: | Sage Science Press |
Place of publishing: | Thousand Oaks |
Publication type: | Article |
Language: | English |
Date of first publication: | 2016/01/21 |
Publication year: | 2016 |
Release date: | 2018/06/18 |
Tag: | combined task and motion planning; manipulation planning |
Volume: | 35 |
Issue: | 8 |
First page: | 890 |
Last Page: | 927 |
Organizational units: | Mathematisch-Naturwissenschaftliche Fakultät / Institut für Informatik und Computational Science |
DDC classification: | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
External remark: | Zweitveröffentlichung in der Schriftenreihe Postprints der Universität Potsdam : Mathematisch-Naturwissenschaftliche Reihe ; 422 |