Integrated task and motion planning using physics-based heuristics
Document typeConference lecture
Rights accessOpen Access
—This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics-based motion planner, is proposed to evaluate the applicability and feasibility of manipulation actions and to compute the heuristic values that guide the search. The proposal results in low-cost physically-feasible plans
CitationAkbari, A., Ud Din, M., Rosell, J. Integrated task and motion planning using physics-based heuristics. A: Robotics: Science and Systems. "RSS 2016 Workshop on Task and Motion Planning: posters". Ann Arbor: 2016, p. 1-4.