Optimal Grasps and Placements for Task and Motion Planning in Clutter
Carlos Quintero-Peña,Zachary Kingston,Tianyang Pan,Rahul Shome,Anastasios Kyrillidis,Lydia E. Kavraki,Carlos Quintero-Peña,Zachary Kingston,Tianyang Pan,Rahul Shome,Anastasios Kyrillidis,Lydia E. Kavraki
Many methods that solve robot planning problems, such as task and motion planners, employ discrete symbolic search to find sequences of valid symbolic actions that are grounded with motion planning. Much of the efficacy of these planners lies in this grounding-bad placement and grasp choices can lead to inefficient planning when a problem has many geometric constraints. Moreover, grounding methods...
