aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems
نویسندگان
چکیده
We propose an original approach to integrate symbolic task planning and geometric motion and manipulation planning. We focus more particularly on one key aspect: the relation between the symbolic positions and their geometric counterparts. Indeed, we have developed an instantiation process that is able to propagate incrementally task-dependent as well as 3D environment-dependent constraints and to guide efficiently the search until valid geometric configurations are found that satisfy the plan at both levels. The overall process is discussed and illustrated through an implemented example.
منابع مشابه
Overview of aSyMov: Integrating Motion, Manipulation and Task Planning
In this paper we propose a new and integrated approach to solve planning problems with both symbolic and geometric aspects. Typical concerned domains are intricate manipulation and task planning problems involving multiple robots in three dimensional worlds. The approach involves a task planner that guides a probabilistic roadmap method used to capture the topology of the free space in various ...
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