A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks

Autor:	Karami, Hossein, Thomas, Antony, Mastrogiovanni, Fulvio
Rok vydání:	2021
Předmět:	Computer Science - Robotics Computer Science - Artificial Intelligence
Druh dokumentu:	Working Paper
Popis:	We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While retrieving a target object from clutter, the number of object re-arrangements required to grasp the target is not known ahead of time. To address this challenge, in contrast to traditional AND/OR graph-based planners, we grow the AND/OR graph online until the target grasp is feasible and thereby obtain a network of AND/OR graphs. The AND/OR graph network allows faster computations than traditional task planners. We validate our approach and evaluate its capabilities using a Baxter robot and a state-of-the-art robotics simulator in several challenging non-trivial cluttered table-top scenarios. The experiments show that our approach is readily scalable to increasing number of objects and different degrees of clutter. Comment: Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2104.01549 Zobrazit plný text záznamu View this record from Arxiv