Towards Combining HTN Planning and Geometric Task Planning
arXiv (Cornell University)Published 4 July 2013Open access
Lavindra de Silva, Amit Kumar Pandey, Mamoun Gharbi, Rachid Alami
Citations50
Generate an AI Snapshot to get a quick, structured summary of this paper.
Study Snapshot
ObjectiveStudy objective
MethodsResearch methodology
PopulationPopulation studied
Sample sizeSample sizes
OutcomesStudy outcomes here
ResultsStudy results comes here
LimitationsResearch study limitations comes here
A concise AI-generated summary of the paper will appear here once you click Generate AI Snapshot.
TL;DR
An interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities---tasks is presented.
Abstract
In this paper we present an interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities---tasks. We believe that this approach facilitates a more principled interface to symbolic planning, while also leaving more room for the geometric planner to make independent decisions. We show how the two planners could be interfaced, and how their planning and backtracking could be interleaved. We also provide insights for a methodology for using the combined system, and experimental results to use as a benchmark with future extensions to both the combined system, as well as to the geometric task planner.
Keywords
Computer Science
Artificial IntelligenceStrips: A new approach to the application of theorem proving to problem solving
4,073 Citations1971Richard Fikes, Nils J. Nilsson
A new problem solver called STRIPS is described that attempts to find a sequence of operators in a space of world models to transform a given initial world model into a model in which a given goal formula can be proven to be true.
Hierarchical task and motion planning in the now
477 Citations2011Leslie Pack Kaelbling, Tomás Lozano‐Pérez
An approach to the integration of task planning and motion planning that has the following key properties: It is aggressively hierarchical; it makes choices and commits to them in a top-down fashion in an attempt to limit the length of plans that need to be constructed, and thereby exponentially decrease the amount of search required.
Digital Repository at the University of Maryland (University of Maryland College Park)SHOP: Simple Hierarchical Ordered Planner
399 Citations1999Dana Nau, Yue Cao +2 more
In the authors' tests, SHOP was several orders of magnitude faster man Blackbox and several times faster than TLpian, even though SHOP is coded in Lisp and the other planners are coded in C.
Proceedings of the International Conference on Automated Planning and SchedulingCombined Task and Motion Planning for Mobile Manipulation
206 Citations2010Jason Wolfe, Bhaskara Marthi +1 more
A hierarchical planning system and its application to robotic manipulation that finds high-quality kinematic solutions to task-level problems and takes advantage of subtask-specific irrelevance information, reusing optimal solutions to state-abstracted subproblems across the search space.
Sampling-Based Motion and Symbolic Action Planning with geometric and differential constraints
143 Citations2010Erion Plaku, Gregory D. Hager
Sampling-based Motion and Symbolic Action Planner leverages from sampling-based motion planning the underlying idea of searching for a solution trajectory by selectively sampling and exploring the continuous space of collision-free and dynamically-feasible motions.
Springer tracts in advanced roboticsSemantic Attachments for Domain-Independent Planning Systems
128 Citations2012Christian Dornhege, Patrick Eyerich +4 more
This paper proposes an extension of PDDL for specifying semantic attachments that allows the evaluation of grounded predicates as well as the change of fluents by externally specified functions.
Total-order planning with partially ordered subtasks
118 Citations2001Dana Nau, Héctor Muñoz‐Avila +3 more
The experimental results suggest that in some problem domains, the difficulty of writing SHOP knowledge bases derives from SHOP's total-ordering requirement--and that in such cases, SHOP2 can plan as efficiently as SHOP using knowledge bases simpler than those needed by SHOP.
Move3D: A generic platform for path planning
92 Citations2002Thierry Siméon, Jean‐Paul Laumond +1 more
Reports on Move3D, a software platform dedicated to collision-free path planning, focuses on results obtained in logistics for industrial installations, in graphics animation and in mobile robotics as well.
Constraint propagation on interval bounds for dealing with geometric backtracking
72 Citations2012Fabien Lagriffoul, Dimitar Dimitrov +2 more
This paper uses intervals to represent geometric configurations, and constraint propagation techniques to shrink these intervals according to the geometric constraints of the problem, and reports experiments that show how the search space is reduced.
Integrating symbolic and geometric planning for mobile manipulation
71 Citations2009Christian Dornhege, Mika Gissler +2 more
This work decomposes the manipulation problem into a symbolic and a geometric part that is implemented as a classical symbolic planner that tightly integrates a geometric planner enabling it to efficiently generate correct plans.
HAL (Le Centre pour la Communication Scientifique Directe)A Robot Task Planner that Merges Symbolic and Geometric Reasoning
46 Citations2004Stéphane Cambon, Fabien Gravot +1 more
The ingredients that allowed us to establish an effective link between the representations used by a symbolic task planner and the representations using by a realistic motion and manipulation planning library are presented.
Mightability maps: A perceptual level decisional framework for co-operative and competitive human-robot interaction
46 Citations2010Ajay Kumar Pandey, Rachid Alami
Interestingly Humans are able to maintain rough estimations of visibility, reachability and other capabilities of not only themselves but of the person they are interacting with as well as that of the human partner.
Towards planning Human-Robot Interactive manipulation tasks: Task dependent and human oriented autonomous selection of grasp and placement
36 Citations2012Amit Pandey, Jean-Philippe Saut +2 more
This paper will explore essential human oriented constraints on grasp and placement selections and present a framework to incorporate them in synthesizing key configurations of planning basic interactive manipulation tasks.
Towards shared attention through geometric reasoning for Human Robot Interaction
25 Citations2009Luis F. Marín-Urías, Emrah Akin Sisbot +3 more
A geometric reasoning mechanism that employs psychological concepts of “perspective taking” and “mental rotation” in order to reason what the human sees, what the robot sees and where the robot should focus to share human's attention is presented.
National Conference on Artificial IntelligenceIntegrating task and motion planning using semantic attachments
15 Citations2010Christian Dornhege, Patrick Eyerich +3 more
An extension of PDDL for specifying semantic attachments is proposed that allows the evaluation of grounded predicates, the change of fluents and the calculation of durations by externally specified functions.