A hierarchical approach to manipulation with diverse actions
A hierarchical approach to manipulation with diverse actions
复制标题
DOI：
10.1109/icra.2013.6630814
复制
发表时间：
2013-05
期刊：
影响因子：
--
通讯作者：
Jennifer L. Barry;L. Kaelbling;Tomas Lozano-Perez
中科院分区：
文献类型：
--
作者：
Jennifer L. Barry;L. Kaelbling;Tomas Lozano-Perez
我们定义了各种各样的动作操作（DAMA）问题，其中我们将为我们提供一个移动机器人，一组可移动的对象以及一组多样化的，可能是非审查的操纵行动，目标是找到一系列动作，以移动移动每个目标配置的对象。我们表明，Dama问题可以作为多模式计划问题构成，并描述一种利用这种多模式性质的层次结构算法。我们还将早期的远期搜索采样算法扩展到双向版本。我们在复杂的操作域上给出结果，并证明这两种新算法都比原始算法高得多，并且层次结构算法通常比正向或双向搜索更有效。
We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the goal is to find a sequence of actions that moves each of the objects to a goal configuration. We show that the DAMA problem can be framed as a multi-modal planning problem and describe a hierarchical algorithm that takes advantage of this multi-modal nature. We also extend our earlier forward search sampling algorithm to a bi-directional version. We give results on a complicated manipulation domain and demonstrate that both new algorithms are significantly more efficient than the original, and that the hierarchical algorithm is usually much more efficient than the forward or bi-directional searches.