Planning clearing actions in cluttered scenes by phasing in geometrical constraints

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/110506

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.author	Covallero, Nicola
dc.contributor.author	Martinez Martinez, David
dc.contributor.author	Alenyà Ribas, Guillem
dc.contributor.author	Torras, Carme
dc.date	2017
dc.identifier.citation	Covallero, N., Martinez, D., Alenyà, G., Torras, C. Planning clearing actions in cluttered scenes by phasing in geometrical constraints. A: Catalonian Conference on Artificial Intelligence. "Recent Advances in Artificial Intelligence Research and Development, Vol 300 of Frontiers in Artificial Intelligence and Applications". Deltebre: IOS Press, 2017, p. 233-238.
dc.identifier.citation	10.3233/978-1-61499-806-8-233
dc.identifier.uri	http://hdl.handle.net/2117/110506
dc.language.iso	eng
dc.publisher	IOS Press
dc.relation	http://ebooks.iospress.nl/publication/47744
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial
dc.subject	planning (artificial intelligence)
dc.subject	Classificació INSPEC::Cybernetics::Artificial intelligence
dc.title	Planning clearing actions in cluttered scenes by phasing in geometrical constraints
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.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.
dc.description.abstract	Peer Reviewed

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