Combined Task and Motion Planning as Classical AI Planning

Jonathan Ferrer-Mestres
Jonathan Ferrer-Mestres

arXiv: Robotics, Volume abs/1706.06927, 2017.

Cited by: 2|Bibtex|Views24
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Other Links: dblp.uni-trier.de|academic.microsoft.com|arxiv.org

Abstract:

Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such a decomposition is not effective in general as the symbolic and geometrical components are not inde...More

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