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...
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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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 |
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| author | Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie P |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie P |
| author_sort | Garrett, Caelan Reed |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T14:46:52Z |
| format | Article |
| id | mit-1721.1/111683 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:46:52Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1116832022-09-29T10:31:19Z Backward-forward search for manipulation planning Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie P Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie P 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. United States. Office of Naval Research (Grant N00014-14-1-0486) United States. Air Force Office of Scientific Research (Grant FA23861014135) United States. Army Research Office (Grant W911NF1410433) 2017-10-03T18:36:12Z 2017-10-03T18:36:12Z 2015-12 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-9994-1 http://hdl.handle.net/1721.1/111683 Garrett, Caelan Reed et al. “Backward-Forward Search for Manipulation Planning.” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 2 2015, Hamburg, Germany, Institute of Electrical and Electronics Engineers (IEEE), December 2015: 6366-6373 © Institute of Electrical and Electronics Engineers (IEEE) https://orcid.org/0000-0002-6474-1276 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 en_US http://dx.doi.org/10.1109/IROS.2015.7354287 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie P Backward-forward search for manipulation planning |
| title | Backward-forward search for manipulation planning |
| title_full | Backward-forward search for manipulation planning |
| title_fullStr | Backward-forward search for manipulation planning |
| title_full_unstemmed | Backward-forward search for manipulation planning |
| title_short | Backward-forward search for manipulation planning |
| title_sort | backward forward search for manipulation planning |
| url | 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 |
| work_keys_str_mv | AT garrettcaelanreed backwardforwardsearchformanipulationplanning AT lozanopereztomas backwardforwardsearchformanipulationplanning AT kaelblinglesliep backwardforwardsearchformanipulationplanning |