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dc.contributor.authorCovallero, Nicola
dc.contributor.authorMartinez Martinez, David
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2017-11-13T16:45:43Z
dc.date.available2017-11-13T16:45:43Z
dc.date.issued2017
dc.identifier.citationCovallero, 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.
dc.identifier.urihttp://hdl.handle.net/2117/110506
dc.description.abstractManipulation 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.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherIOS Press
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Intel·ligència artificial
dc.subject.otherplanning (artificial intelligence)
dc.titlePlanning clearing actions in cluttered scenes by phasing in geometrical constraints
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.3233/978-1-61499-806-8-233
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Cybernetics::Artificial intelligence
dc.relation.publisherversionhttp://ebooks.iospress.nl/publication/47744
dc.rights.accessOpen Access
local.identifier.drac21591862
dc.description.versionPostprint (author's final draft)
local.citation.authorCovallero, N.; Martinez, D.; Alenyà, G.; Torras, C.
local.citation.contributorCatalonian Conference on Artificial Intelligence
local.citation.pubplaceDeltebre
local.citation.publicationNameRecent Advances in Artificial Intelligence Research and Development, Vol 300 of Frontiers in Artificial Intelligence and Applications
local.citation.startingPage233
local.citation.endingPage238


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