Planning clearing actions in cluttered scenes by phasing in geometrical constraints
Tipus de documentText en actes de congrés
Data publicació2017
EditorIOS Press
Condicions d'accésAccés obert
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Abstract
Manipulation planning of cluttered objects involves a mixture of symbolic and geometric constraints which makes such planning very time consuming and often unsuitable for real applications. We propose to divide the geometric restrictions in two groups. The ones in the first group are used to generate a set of symbolic states used for planning. The evaluation of the ones in the second group is delayed after planning, and only relevant ones are evaluated when necessary. We demonstrate our proposal in a simple but effective implementation using pushing and grasping actions.
CitacióCovallero, N., Martinez, D., Alenyà, G., Torras, C. Planning clearing actions in cluttered scenes by phasing in geometrical constraints. A: Catalonian Conference on Artificial Intelligence. "Recent Advances in Artificial Intelligence Research and Development, Vol 300 of Frontiers in Artificial Intelligence and Applications". Deltebre: IOS Press, 2017, p. 233-238.
Versió de l'editorhttp://ebooks.iospress.nl/publication/47744
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