aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems
aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems
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DOI：
10.1007/11008941_11
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
F. Gravot;S. Cambon;R. Alami
中科院分区：
文献类型：
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作者：
F. Gravot;S. Cambon;R. Alami
我们提出了一个原始的方法来整合象征性的任务规划，几何运动和操纵规划。我们特别关注一个关键方面：符号位置和几何位置之间的关系。事实上，我们已经开发了一个实例化的过程，是能够逐步传播的任务相关的，以及3D环境相关的约束，并有效地引导搜索，直到找到有效的几何配置，满足计划在这两个层次。整个过程进行了讨论和说明，通过一个实施的例子。
We propose an original approach to integrate symbolic task planning, and geometric motion and manipulation planning. We focus more particularly on one key aspect: the relation between the symbolic positions and their geometric counterparts. Indeed, we have developed an instantiation process that is able to propagate incrementally task-dependent as well as 3D environment-dependent constraints and to guide efficiently the search until valid geometric configurations are found that satisfy the plan at both levels. The overall process is discussed and illustrated through an implemented example.