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Integrated task and motion planning using physics-based heuristics
dc.contributor.author | Akbari, Aliakbar |
dc.contributor.author | Ud Din, Muhayy |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2016-09-09T09:32:17Z |
dc.date.available | 2016-09-09T09:32:17Z |
dc.date.issued | 2016 |
dc.identifier.citation | Akbari, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/89780 |
dc.description.abstract | —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 |
dc.format.extent | 4 p. |
dc.language.iso | eng |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robotics |
dc.subject.lcsh | Motion |
dc.subject.lcsh | Heuristic algorithms |
dc.subject.lcsh | Robots - Motion |
dc.title | Integrated task and motion planning using physics-based heuristics |
dc.type | Conference lecture |
dc.subject.lemac | Robots--Moviment |
dc.subject.lemac | Programació heurística |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Open Access |
local.identifier.drac | 18773350 |
dc.description.version | Postprint (published version) |
local.citation.author | Akbari, A.; Ud Din, M.; Rosell, J. |
local.citation.contributor | Robotics: Science and Systems |
local.citation.pubplace | Ann Arbor |
local.citation.publicationName | RSS 2016 Workshop on Task and Motion Planning: posters |
local.citation.startingPage | 1 |
local.citation.endingPage | 4 |