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ATAL
2009
Springer

Efficient physics-based planning: sampling search via non-deterministic tactics and skills

9 years 11 months ago
Efficient physics-based planning: sampling search via non-deterministic tactics and skills
Motion planning for mobile agents, such as robots, acting in the physical world is a challenging task, which traditionally concerns safe obstacle avoidance. We are interested in physics-based planning beyond collision-free navigation goals, in which the agent also needs to achieve its goals, including purposefully manipulate non-actuated bodies, in environments that contain multiple physically interacting bodies with varying degrees of controllability. Physics-based planning is computationally hard due to the large number of continuous motion actions and to the difficulty in accurately modeling the rich interactions of such controlled, manipulatable, and uncontrolled, potentially adversarial, bodies. We contribute an efficient physics-based planning algorithm that uses the agent's high-level behaviors to reduce its motion action space. We first discuss the general physics-based planning problem. We then introduce Tactics and Skills as a model for infusing goal-driven, higher leve...
Stefan Zickler, Manuela M. Veloso
Added 08 Nov 2010
Updated 08 Nov 2010
Type Conference
Year 2009
Where ATAL
Authors Stefan Zickler, Manuela M. Veloso
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