Bridging the Gap between Geometric and Task Level Manipulation Planning
نویسنده
چکیده
In manipulation planning works like [Siméon et al., 2000], although two levels have been distinguished, calling “task level” to the higher one, actually everything has been formulated in geometric terms. However, when properly talking about task planning, an abstract symbolic formulation is generally meant. And complex manipulation tasks may require some kind of symbolic structuring in order to bound the huge search space at geometric level.
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