Planning clearing actions in cluttered scenes by phasing in geometrical constraints

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Title:	Planning clearing actions in cluttered scenes by phasing in geometrical constraints
Author:	Covallero, Nicola; Martinez Martinez, David; Alenyà Ribas, Guillem; Torras, Carme
Other authors:	Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
Abstract:	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.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial -planning (artificial intelligence) -Classificació INSPEC::Cybernetics::Artificial intelligence
Rights:	Attribution-NonCommercial-NoDerivs 3.0 Spain http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Submitted version Conference Object
Published by:	IOS Press
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