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Planning clearing actions in cluttered scenes by phasing in geometrical constraints

By Nicola Covallero, David Martinez Martinez, Guillem Alenyà Ribas and Carme Torras

Abstract

Manipulation planning of cluttered objects involves a mixture of symbolic and geometric constraints which makes such planning very time consuming and often unsuitable for real applications. We propose to divide the geometric restrictions in two groups. The ones in the first group are used to generate a set of symbolic states used for planning. The evaluation of the ones in the second group is delayed after planning, and only relevant ones are evaluated when necessary. We demonstrate our proposal in a simple but effective implementation using pushing and grasping actions.Peer Reviewe

Topics: Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial, planning (artificial intelligence), Classificació INSPEC::Cybernetics::Artificial intelligence
Publisher: IOS Press
OAI identifier: oai:recercat.cat:2072/300774
Provided by: RECERCAT
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