Integrated Task and Motion Planning Using Physics-based Heuristics
نویسندگان
چکیده
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 physicallyfeasible plans.
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