Choi, Jaesik ;
Amir, Eyal
Combining Planning and Motion Planning
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}
}
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Keywords: |
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Motion Planning, Factored Planning, Robotic arm |
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Seminar: |
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10081 - Cognitive Robotics
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Issue date: |
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2010 |
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Date of publication: |
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27.10.2010 |
