Combining task and motion planning: A culprit detection problem
- 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 Lagriffoul, Benjamin Andres |
|---|---|
| DOI: | https://doi.org/10.1177/0278364915619022 |
| ISSN: | 0278-3649 |
| ISSN: | 1741-3176 |
| Title of parent work (English): | International journal of robotics research |
| Publisher: | Sage Publ. |
| Place of publishing: | London |
| Publication type: | Article |
| Language: | English |
| Year of first publication: | 2016 |
| Publication year: | 2016 |
| Release date: | 2020/03/22 |
| Tag: | Combined Task and Motion Planning; Manipulation Planning |
| Volume: | 35 |
| Number of pages: | 38 |
| First page: | 890 |
| Last Page: | 927 |
| Funding institution: | EU [248273] |
| Peer review: | Referiert |
| Institution name at the time of the publication: | Mathematisch-Naturwissenschaftliche Fakultät / Institut für Informatik |
