An incremental constraint-based framework for task and motion planning

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dc.citation.journalTitleThe International Journal of Robotics Research
dc.contributor.authorDantam, Neil T.
dc.contributor.authorKingston, Zachary K.
dc.contributor.authorChaudhuri, Swarat
dc.contributor.authorKavraki, Lydia E.
dc.date.accessioned2018-06-27T13:50:15Z
dc.date.available2018-06-27T13:50:15Z
dc.date.issued2018
dc.description.abstractWe present a new constraint-based framework for task and motion planning (TMP). Our approach is extensible, probabilistically complete, and offers improved performance and generality compared with a similar, state-of-the-art planner. The key idea is to leverage incremental constraint solving to efficiently incorporate geometric information at the task level. Using motion feasibility information to guide task planning improves scalability of the overall planner. Our key abstractions address the requirements of manipulation and object rearrangement. We validate our approach on a physical manipulator and evaluate scalability on scenarios with many objects and long plans, showing order-of-magnitude gains compared with the benchmark planner and improved scalability from additional geometric guidance. Finally, in addition to describing a new method for TMP and its implementation on a physical robot, we also put forward requirements and abstractions for the development of similar planners in the future.
dc.identifier.citationDantam, Neil T., Kingston, Zachary K., Chaudhuri, Swarat, et al.. "An incremental constraint-based framework for task and motion planning." <i>The International Journal of Robotics Research,</i> (2018) Sage: https://doi.org/10.1177/0278364918761570.
dc.identifier.doihttps://doi.org/10.1177/0278364918761570
dc.identifier.urihttps://hdl.handle.net/1911/102293
dc.language.isoeng
dc.publisherSage
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by the authors.
dc.subject.keywordAI reasoning methods
dc.subject.keywordmanipulation planning
dc.subject.keywordpath planning for manipulators
dc.subject.keywordtask and motion planning
dc.titleAn incremental constraint-based framework for task and motion planning
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
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