Platform-Independent Benchmarks for Task and Motion Planning
نویسندگان
چکیده
منابع مشابه
On Benchmarks for Combined Task and Motion Planning
Planning systems developed for Combined Task and Motion Planning (CTAMP) problems are most of the time evaluated using their own benchmarks. As a direct consequence, no comparison of these systems is currently possible, and as a side effect, there is a risk for planners to overspecialize. We compare several CTAMP benchmarks from three different perspectives (logical, geometric, dependency). In ...
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هدف اصلی این تحقیق بررسی تاثیر برنامه ریزی زمانی، هم چنین افزایش میزان پیچیدگی تکالیف در نظر گرفته شده بصورت همزمان، بر دقت و صحت و پیچیدگی عملکرد نوشتاری زبان آموزان می باشد. بدین منظور، 50 نفر از دانش آموزان دختر در رده ی سنی 16 الی 18 سال به عنوان شرکت کنندگان در این زمینه ی تحقیق در نظر گرفته شدند و به دو گروه آزمایشی و کنترل بصورت اتفاقی تقسیم شدند. اعضای گروه آزمایشی هر دو تکلیف ساده و پی...
Heuristic Search for Task and Motion Planning
Manipulation problems involving many objects present substantial challenges for motion planning algorithms due to the high-dimensionality and multi-modality of the search space. Symbolic task planners, on the other hand, can efficiently construct plans involving many entities but cannot incorporate the constraints from geometry and kinematics. In recent years, there have been a number of approa...
متن کاملTask and Motion Planning for Mobile Manipulators
Task and Motion Planning for Mobile Manipulators by Ioan Alexandru Şucan This thesis introduces new concepts and algorithms that can be used to solve the simultaneous task and motion planning (STAMP) problem. Given a set of actions a robot could perform, the STAMP problem asks for a sequence of actions that takes the robot to its goal and for motion plans that correspond to the actions in that ...
متن کاملFFRob: Leveraging symbolic planning for efficient task and motion planning
Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces. Planners that perform a purely geometric search are prohibitively slow for solving these problems because they are unable to factor the configuration space. Symbolic task planners can efficiently construct plans involving many varia...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2018
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2018.2856701