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Combining Planning and Motion Planning

Authors: Jaesik Choi and Eyal Amir

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

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.

Cite as

Jaesik Choi and Eyal Amir. Combining Planning and Motion Planning. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2010)

Copy BibTex To Clipboard

  author =	{Choi, Jaesik and Amir, Eyal},
  title =	{{Combining Planning and Motion Planning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.6},
  URN =		{urn:nbn:de:0030-drops-26294},
  doi =		{10.4230/DagSemProc.10081.6},
  annote =	{Keywords: Motion Planning, Factored Planning, Robotic arm}
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