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Combining task and motion planning: a culprit detection problem
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-8631-7863
Knowledge Processing and Information Systems, University of Potsdam, Germany.
2016 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 35, no 8, 890-927 p.Article in journal (Refereed) Published
Abstract [en]

Solving problems combining task and motion planning requires searching across a symbolic search space and a geometricsearch space. Because of the semantic gap between symbolic and geometric representations, symbolic sequences of actionsare not guaranteed to be geometrically feasible. This compels us to search in the combined search space, in which frequentbacktracks between symbolic and geometric levels make the search inefficient. We address this problem by guiding symbolicsearch with rich information extracted from the geometric level through culprit detection mechanisms.

Place, publisher, year, edition, pages
London, United Kingdom: Sage Publications, 2016. Vol. 35, no 8, 890-927 p.
Keyword [en]
Combined Task and Motion Planning, Manipulation Planning
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-48000DOI: 10.1177/0278364915619022ISI: 000380018600002Scopus ID: 2-s2.0-84977141089OAI: oai:DiVA.org:oru-48000DiVA: diva2:900840
Funder
EU, European Research Council, 248273
Available from: 2016-02-05 Created: 2016-02-05 Last updated: 2017-10-17Bibliographically approved

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