Integrated task and motion planning using physics-based heuristics
Aliakbar Akbari, Muhayy Ud Din, Jan Rosell Gratacòs · RECERCAT (Consorci de Serveis Universitaris de Catalunya) · 2016
—This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics-based motion planner, is proposed to evaluate the applicability and feasibility of manipulation actions and to compute the heuristic values that guide the search. The proposal results in low-cost physically-feasible plans