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.
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| Author details: | Fabien LagriffoulORCiDGND, Benjamin Andres |
|---|---|
| URN: | urn:nbn:de:kobv:517-opus4-405126 |
| Title of parent work (English): | The international journal of robotics research |
| Subtitle (English): | a culprit detection problem |
| Publication series (Volume number): | Zweitveröffentlichungen der Universität Potsdam : Mathematisch-Naturwissenschaftliche Reihe (422) |
| Publication type: | Postprint |
| Language: | English |
| Date of first publication: | 2018/05/08 |
| Publication year: | 2015 |
| Publishing institution: | Universität Potsdam |
| Release date: | 2018/05/08 |
| Tag: | combined task and motion planning; manipulation planning |
| Volume: | 35 |
| Issue: | 8 |
| Number of pages: | 38 |
| Source: | The International Journal of Robotics Research 35(8) (2015), S. 890–927 DOI: 10.1177/0278364915619022 |
| Organizational units: | Mathematisch-Naturwissenschaftliche Fakultät |
| DDC classification: | 6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften / 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten |
| Peer review: | Referiert |
| Publishing method: | Open Access |
| Grantor: | Sage |
| License (German): |  Keine öffentliche Lizenz: Unter Urheberrechtsschutz |
| External remark: | Bibliographieeintrag der Originalveröffentlichung/Quelle |
