A constraint-based method for solving sequential manipulation planning problems
A constraint-based method for solving sequential manipulation planning problems
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DOI：
10.1109/iros.2014.6943079
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
Tomas Lozano-Perez;L. Kaelbling
中科院分区：
文献类型：
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作者：
Tomas Lozano-Perez;L. Kaelbling
在本文中，我们描述了一种集成任务和运动规划的策略，该策略基于对一系列高级操作(如拾取、移动和放置)执行符号搜索，同时推迟几何决策。因此，这种搜索中的部分规划(骨架)构成了一个几何约束满足问题(CSP)，涉及到机器人的放置和路径序列，以及对对象的抓取和位置。我们提出了在机器人的离散化配置空间中解决这些问题的公式。由此产生的问题可以用离散CSP的现有方法来解决。
In this paper, we describe a strategy for integrated task and motion planning based on performing a symbolic search for a sequence of high-level operations, such as pick, move and place, while postponing geometric decisions. Partial plans (skeletons) in this search thus pose a geometric constraint-satisfaction problem (CSP), involving sequences of placements and paths for the robot, and grasps and locations of objects. We propose a formulation for these problems in a discretized configuration space for the robot. The resulting problems can be solved using existing methods for discrete CSP.