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

• URL: http://arxiv.org/abs/2104.01549v1
• Date: Sun, 4 Apr 2021 07:06:52 GMT
• Title: A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
• Authors: Hossein Karami and Antony Thomas and Fulvio Mastrogiovanni
• Abstract summary: We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) TMP-IDAN uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. We validate our approach and evaluate its capabilities using a Baxter robot and a state-of-the-art robotics simulator.
• Score: 1.3535770763481902
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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