Admissible Abstractions for Near-optimal Task and Motion Planning
We define an admissibility condition for abstractions expressed using angelic semantics and show that these conditions allow us to accelerate planning while preserving the ability to find the optimal motion plan. We then derive admissible abstractions for two motion planning domains with continuous...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
International Joint Conferences on Artificial Intelligence Organization
2020
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| Online Access: | https://hdl.handle.net/1721.1/125863 |