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Constraint propagation on interval bounds for dealing with geometric backtracking
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-8631-7863
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-0458-2146
2012 (English)In: Proceedings of  the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 957-964Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2012. p. 957-964
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords [en]
robotics, planning
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-24398DOI: 10.1109/IROS.2012.6385972ISI: 000317042701078Scopus ID: 2-s2.0-84872299916ISBN: 978-1-4673-1736-8 (print)OAI: oai:DiVA.org:oru-24398DiVA, id: diva2:544334
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)OCT 07-12, 2012, Algarve, Spain
Projects
GeRT
Funder
EU, FP7, Seventh Framework ProgrammeAvailable from: 2012-08-14 Created: 2012-08-14 Last updated: 2018-01-12Bibliographically approved

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Lagriffoul, FabienDimitrov, DimitarSaffiotti, AlessandroKarlsson, Lars

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