License: Creative Commons Attribution 4.0 International license (CC BY 4.0)
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DOI: 10.4230/DagSemProc.10081.6
URN: urn:nbn:de:0030-drops-26294
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Choi, Jaesik ; Amir, Eyal

Combining Planning and Motion Planning

10081.Amir.2629.pdf (0.2 MB)


Robotic manipulation is important for real, physical world
applications. General Purpose manipulation with a robot (eg.
delivering dishes, opening doors with a key, etc.) is demanding.
It is hard because (1) objects are constrained in position
and orientation, (2) many non-spatial constraints interact
(or interfere) with each other, and (3) robots may have multidegree
of freedoms (DOF). In this paper we solve the problem
of general purpose robotic manipulation using a novel
combination of planning and motion planning. Our approach
integrates motions of a robot with other (non-physical or
external-to-robot) actions to achieve a goal while manipulating
objects. It differs from previous, hierarchical approaches
in that (a) it considers kinematic constraints in configuration
space (C-space) together with constraints over object manipulations;
(b) it automatically generates high-level (logical) actions
from a C-space based motion planning algorithm; and
(c) it decomposes a planning problem into small segments,
thus reducing the complexity of planning.

BibTeX - Entry

  author =	{Choi, Jaesik and Amir, Eyal},
  title =	{{Combining Planning and Motion Planning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{},
  URN =		{urn:nbn:de:0030-drops-26294},
  doi =		{10.4230/DagSemProc.10081.6},
  annote =	{Keywords: Motion Planning, Factored Planning, Robotic arm}

Keywords: Motion Planning, Factored Planning, Robotic arm
Collection: 10081 - Cognitive Robotics
Issue Date: 2010
Date of publication: 27.10.2010

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