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ICRA
2007
IEEE

Manipulation Planning Among Movable Obstacles

10 years 6 months ago
Manipulation Planning Among Movable Obstacles
— This paper presents the ResolveSpatialConstraints (RSC) algorithm for manipulation planning in a domain with movable obstacles. Empirically we show that our algorithm quickly generates plans for simulated articulated robots in a highly nonlinear search space of exponential dimension. RSC is a reverse-time search that samples future robot actions and constrains the space of prior object displacements. To optimize the efficiency of RSC, we identify methods for sampling object surfaces and generating connecting paths between grasps and placements. In addition to experimental analysis of RSC, this paper looks into object placements and task-space motion constraints among other unique features of the three dimensional manipulation planning domain.
Mike Stilman, Jan-Ullrich Schamburek, James Kuffne
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Mike Stilman, Jan-Ullrich Schamburek, James Kuffner, Tamim Asfour
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