Publication
Planning clearing actions in cluttered scenes by phasing in geometrical constraints
Conference Article
Conference
Catalan Conference on Artificial Intelligence (CCIA)
Edition
20th
Pages
233-238
Doc link
http://dx.doi.org/10.3233/978-1-61499-806-8-233
File
Abstract
Manipulation planning of cluttered objects involves a mixture of symbolic and geometric constraints which makes such planning very time consuming and often unsuitable for real applications. We propose to divide the geometric restrictions in two groups. The ones in the first group are used to generate a set of symbolic states used for planning. The evaluation of the ones in the second group is delayed after planning, and only relevant ones are evaluated when necessary. We demonstrate our proposal in a simple but effective implementation using pushing and grasping actions.
Categories
planning (artificial intelligence).
Scientific reference
N. Covallero, D. Martínez, G. Alenyà and C. Torras. Planning clearing actions in cluttered scenes by phasing in geometrical constraints, 20th Catalan Conference on Artificial Intelligence, 2017, Deltebre, in Recent Advances in Artificial Intelligence Research and Development, Vol 300 of Frontiers in Artificial Intelligence and Applications, pp. 233-238, 2017, IOS Press.
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