Integrated task and motion planning using physics-based heuristics
Tipus de documentComunicació de congrés
Data publicació2016
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
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
CitacióAkbari, 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.
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2016_RSSworksho ... kbariMuhayyuddinRosell.pdf | 632,4Kb | Visualitza/Obre |