Planning Clearing Actions in Cluttered Scenes by Phasing in Geometrical Constraints
Covallero Nicola, Martínez David, Aleny agrave Guillem, Carme Torras · Frontiers in artificial intelligence and applications · 2017
Manipulation planning of cluttered objects involves a mixture of symbolic and geometric constraints which makes such planning very time consuming and often unsuitable for real applications. We propose to divide the geometric restrictions in two groups. The ones in the first group are used to generate a set of symbolic states used for planning. The evaluation of the ones in the second group is delayed after planning, and only relevant ones are evaluated when necessary. We demonstrate our proposal in a simple but effective implementation using pushing and grasping actions.