HTN planning for pick-and-place manipulation

Hisashi Hayashi, Hideki Ogawa, Nobuto Matsuhira

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence
出版者SciTePress
ページ383-388
ページ数6
ISBN(印刷物)9789898565389
DOI
出版物ステータスPublished - 2013
イベント5th International Conference on Agents and Artificial Intelligence, ICAART 2013 - Barcelona, Spain
継続期間: 2013 2 152013 2 18

出版物シリーズ

名前ICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence
1

Conference

Conference5th International Conference on Agents and Artificial Intelligence, ICAART 2013
Spain
Barcelona
期間13/2/1513/2/18

ASJC Scopus subject areas

  • Artificial Intelligence

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  • これを引用

    Hayashi, H., Ogawa, H., & Matsuhira, N. (2013). HTN planning for pick-and-place manipulation. : 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; 巻数 1). SciTePress. https://doi.org/10.5220/0004226303830388