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Constraint propagation on interval bounds for dealing with geometric backtracking
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-8631-7863
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0001-8229-1363
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-0458-2146
2012 (engelsk)Inngår i: Proceedings of  the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2012, s. 957-964Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The combination of task and motion planning presents us with a new problem that we call geometric backtracking. This problem arises from the fact that a single symbolic state or action can be geometrically instantiated in infinitely many ways. When a symbolic action cannot begeometrically validated, we may need to backtrack in thespace of geometric configurations, which greatly increases thecomplexity of the whole planning process. In this paper, weaddress this problem using intervals to represent geometricconfigurations, and constraint propagation techniques to shrinkthese intervals according to the geometric constraints of the problem. After propagation, either (i) the intervals are shrunk, thus reducing the search space in which geometric backtracking may occur, or (ii) the constraints are inconsistent, indicating then infeasibility of the sequence of actions without further effort. We illustrate our approach on scenarios in which a two-arm robot manipulates a set of objects, and report experiments that show how the search space is reduced.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2012. s. 957-964
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
robotics, planning
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-24398DOI: 10.1109/IROS.2012.6385972ISI: 000317042701078Scopus ID: 2-s2.0-84872299916ISBN: 978-1-4673-1736-8 (tryckt)OAI: oai:DiVA.org:oru-24398DiVA, id: diva2:544334
Konferanse
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)OCT 07-12, 2012, Algarve, Spain
Prosjekter
GeRT
Forskningsfinansiär
EU, FP7, Seventh Framework ProgrammeTilgjengelig fra: 2012-08-14 Laget: 2012-08-14 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Lagriffoul, FabienDimitrov, DimitarSaffiotti, AlessandroKarlsson, Lars

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