Planning as heuristic search

Planning as heuristic search

In the AIPS98 Planning Contest, the HSP planner showed that heuristic search planners can be competitive with state-of-the-art Graphplan and SAT planners. Heuristic search planners like HSP transform planning problems into problems of heuristic search by automatically extracting heuristics from Strips encodings. They differ from specialized problem solvers such as those developed for the 24-Puz...

Planning as Heuristic Search: New Results

In the recent AIPS98 Planning Competition, the hsp planner , based on a forward state search and a suitable domain-independent heuristic, showed that heuristic search planners can be competitive with state of the art Graphplan and Satissability planners. hsp solved more problems than the other planners but often took more time or produced longer plans. The bottleneck in hsp is the computation o...

Heuristic Search in Planning

Rearrangement Planning via Heuristic Search

—We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact with objects in the environment is critical to goal achievement. We dynamically generate goal-directed primitives that create and maintain contact between robo...

Heuristic Search for Manipulation Planning

Manipulation problems involving many objects present substantial challenges for planning algorithms due to the high dimensionality and multi-modality of the search space. Symbolic task planners can efficiently construct plans involving many entities but cannot incorporate the constraints from geometry and kinematics. Existing approaches to integrated task and motion planning as well as manipula...