HTN planning for pick-and-place manipulation

Hisashi Hayashi, Hideki Ogawa, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We introduce new heuristics of HTN (Hierarchical Task Network) planning for mobile robots with two arms/hands that pick and place objects among movable obstacles. Based on our new heuristics, the robot moves obstacles if necessary, picks and places the target objects without collisions. The robot chooses the (right or left) hand to use for each manipulation in order to avoid collisions and reduce the number of obstacle movements. In most of the previous approaches that combine task planning and motion planning, collisions between an arm and obstacles are checked only by the lower-level geometric motion planner. Therefore, the high-level general-purpose task planner often produces a plan that is not executable by the lower-level modules. On the other hand, in our new heuristics, the task planner roughly checks collisions, and produces executable plans.

Original languageEnglish
Title of host publicationICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence
PublisherSciTePress
Pages383-388
Number of pages6
ISBN (Print)9789898565389
Publication statusPublished - 2013 Jan 1
Event5th International Conference on Agents and Artificial Intelligence, ICAART 2013 - Barcelona, Spain
Duration: 2013 Feb 152013 Feb 18

Publication series

NameICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence
Volume1

Conference

Conference5th International Conference on Agents and Artificial Intelligence, ICAART 2013
CountrySpain
CityBarcelona
Period13/2/1513/2/18

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Keywords

  • HTN planning
  • Manipulation
  • Robot

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Hayashi, H., Ogawa, H., & Matsuhira, N. (2013). HTN planning for pick-and-place manipulation. In ICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence (pp. 383-388). (ICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence; Vol. 1). SciTePress.