Title:
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Task planning using physics-based heuristics on manipulation actions
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Author:
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Akbari, Aliakbar; Bashiruddin Ahmed, Muhayyuddin; Rosell Gratacòs, Jan
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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Abstract:
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In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a modified version of the Fast-Forward task planner that is guided by physics-based knowledge.
The proposal uses manipulation knowledge for reasoning on symbolic literals (both in offline and online modes) taking into account geometric information in order to evaluate the applicability as well as feasibility of actions while evaluating the heuristic cost. It results in an efficient search of the state space and in the obtention of low-cost physically-feasible plans. The proposal has been implemented and is illustrated with a manipulation problem consisting of a mobile robot and some fixed and manipulatable objects. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Mobile robots--Automatic control -manipulators -mobile robots -path planning -state-space methods -mobile manipulation -task planning -motion planning -physics-based information -fastforward task planner -physics-based knowledge -manipulation knowledge -symbolic literals -geomètric information -state space -low-cost physically-feasible plans -mobile robot -manipulatable objects -fixed objects -Robots mòbils -- Control automàtic |
Rights:
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Document type:
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Article - Submitted version Conference Object |
Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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