7,979 research outputs found
PushPush is NP-hard in 2D
We prove that a particular pushing-blocks puzzle is intractable in 2D,
improving an earlier result that established intractability in 3D [OS99]. The
puzzle, inspired by the game *PushPush*, consists of unit square blocks on an
integer lattice. An agent may push blocks (but never pull them) in attempting
to move between given start and goal positions. In the PushPush version, the
agent can only push one block at a time, and moreover, each block, when pushed,
slides the maximal extent of its free range. We prove this version is NP-hard
in 2D by reduction from SAT.Comment: 18 pages, 13 figures, 1 table. Improves cs.CG/991101
PushPush and Push-1 are NP-hard in 2D
We prove that two pushing-blocks puzzles are intractable in 2D. One of our
constructions improves an earlier result that established intractability in 3D
[OS99] for a puzzle inspired by the game PushPush. The second construction
answers a question we raised in [DDO00] for a variant we call Push-1. Both
puzzles consist of unit square blocks on an integer lattice; all blocks are
movable. An agent may push blocks (but never pull them) in attempting to move
between given start and goal positions. In the PushPush version, the agent can
only push one block at a time, and moreover when a block is pushed it slides
the maximal extent of its free range. In the Push-1 version, the agent can only
push one block one square at a time, the minimal extent---one square. Both
NP-hardness proofs are by reduction from SAT, and rely on a common
construction.Comment: 10 pages, 11 figures. Corrects an error in the conference version:
Proc. of the 12th Canadian Conference on Computational Geometry, August 2000,
pp. 211-21
Sampling-Based Methods for Factored Task and Motion Planning
This paper presents a general-purpose formulation of a large class of
discrete-time planning problems, with hybrid state and control-spaces, as
factored transition systems. Factoring allows state transitions to be described
as the intersection of several constraints each affecting a subset of the state
and control variables. Robotic manipulation problems with many movable objects
involve constraints that only affect several variables at a time and therefore
exhibit large amounts of factoring. We develop a theoretical framework for
solving factored transition systems with sampling-based algorithms. The
framework characterizes conditions on the submanifold in which solutions lie,
leading to a characterization of robust feasibility that incorporates
dimensionality-reducing constraints. It then connects those conditions to
corresponding conditional samplers that can be composed to produce values on
this submanifold. We present two domain-independent, probabilistically complete
planning algorithms that take, as input, a set of conditional samplers. We
demonstrate the empirical efficiency of these algorithms on a set of
challenging task and motion planning problems involving picking, placing, and
pushing
- …