Backward-forward search for manipulation planning
In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct t...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/111683 https://orcid.org/0000-0002-6474-1276 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| Summary: | In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct the sampling of the infinite action space in a forward search from the initial state towards a goal configuration. The resulting planner is probabilistically complete and can effectively construct long manipulation plans requiring both prehensile and nonprehensile actions in cluttered environments. |
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