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URN: urn:nbn:de:0030-drops-26294
URL: http://drops.dagstuhl.de/opus/volltexte/2010/2629/
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Choi, Jaesik ; Amir, Eyal

Combining Planning and Motion Planning

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Abstract

Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc.) is demanding. It is hard because (1) objects are constrained in position and orientation, (2) many non-spatial constraints interact (or interfere) with each other, and (3) robots may have multidegree of freedoms (DOF). In this paper we solve the problem of general purpose robotic manipulation using a novel combination of planning and motion planning. Our approach integrates motions of a robot with other (non-physical or external-to-robot) actions to achieve a goal while manipulating objects. It differs from previous, hierarchical approaches in that (a) it considers kinematic constraints in configuration space (C-space) together with constraints over object manipulations; (b) it automatically generates high-level (logical) actions from a C-space based motion planning algorithm; and (c) it decomposes a planning problem into small segments, thus reducing the complexity of planning.

BibTeX - Entry

@InProceedings{choi_et_al:DSP:2010:2629,
  author =	{Jaesik Choi and Eyal Amir},
  title =	{Combining Planning and Motion Planning},
  booktitle =	{Cognitive Robotics},
  year =	{2010},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  number =	{10081},
  series =	{Dagstuhl Seminar Proceedings},
  ISSN =	{1862-4405},
  publisher =	{Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},
  address =	{Dagstuhl, Germany},
  URL =		{http://drops.dagstuhl.de/opus/volltexte/2010/2629},
  annote =	{Keywords: Motion Planning, Factored Planning, Robotic arm}
}

Keywords: Motion Planning, Factored Planning, Robotic arm
Seminar: 10081 - Cognitive Robotics
Issue Date: 2010
Date of publication: 27.10.2010


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