Taking Into Account Geometric Constraints for Task-oriented Motion Planning
Julien Guitton, Édouard Belin, Jean-Loup Farges · 2009
Planning a mission for a mobile robot involves the use of a symbolic and a geometric planner. The gap between their internal representation of the environment is an open issue and current researches are conducted without unified formalisms and algorithms. In this paper, we propose to extend the classical planning formalism in order to model actions with geometric preconditions and we propose, develop and test a constraint satisfaction method that aims at defining a destination attitude for motion planning.