Model-Based Planning for Object-Rearrangement Problems
نویسندگان
چکیده
We describe a model-based planning representation, aimed at capturing more efficiently the basic topological and structural properties of a domain. We specify the syntax of a domain-modelling language based on the proposed representation. We report the experimental results obtained with a prototype system (called PMP, Pattern-Matching Planner) able to represent and solve planning problems expressed in this language. The performances of PMP on a set of five domains are compared with those of a second planner, adopting the same search algorithm but using a classical STRIPS propositional language. Preliminary results show a superior performance of PMP on all of the chosen domains.
منابع مشابه
Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملDealing with Difficult Instances of Object Rearrangement
Rearranging multiple objects is a critical skill for robots so that they can effectively deal with clutter in human spaces. This is a challenging problem as it involves combinatorially large, continuous C-spaces involving multiple movable bodies and complex kinematic constraints. This work initially revisits an existing search-based approach, which solves monotone challenges, i.e., when objects...
متن کاملRearrangement 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...
متن کاملUrban Vegetation Recognition Based on the Decision Level Fusion of Hyperspectral and Lidar Data
Introduction: Information about vegetation cover and their health has always been interesting to ecologists due to its importance in terms of habitat, energy production and other important characteristics of plants on the earth planet. Nowadays, developments in remote sensing technologies caused more remotely sensed data accessible to researchers. The combination of these data improves the obje...
متن کاملA Tunned-parameter Hybrid Algorithm for Dynamic Facility Layout Problem with Budget Constraint using GA and SAA
A facility layout problem is concerned with determining the best position of departments, cells, or machines on the plant. An efficient layout contributes to the overall efficiency of operations. It’s been proved that, when system characteristics change, it can cause a significant increase in material handling cost. Consequently, the efficiency of the current layout decreases or is lost and it ...
متن کامل