Backward-forward search for manipulation planning

In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct the sampling of the infinite action space in a forward search from the initial state towards a goal configuration. The resulting planner is probabilistically complete and can effectively construct long manipulation plans requiring both prehensile and nonprehensile actions in cluttered environments.

[1]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  W. Eric L. Grimson,et al.  Handey: A robot system that recognizes, plans, and manipulates , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[3]  Gordon T. Wilfong.  Motion planning in the presence of movable obstacles , 1988, SCG '88.

[4]  Rachid Alami,et al.  A geometrical approach to planning manipulation tasks. The case of discrete placements and grasps , 1991 .

[5]  Rachid Alami,et al.  Two manipulation planning algorithms , 1995 .

[6]  Blai Bonet,et al.  Planning as Heuristic Search: New Results , 1999, ECP.

[7]  Blai Bonet,et al.  Planning as heuristic search , 2001, Artif. Intell..

[8]  Bernhard Nebel,et al.  The FF Planning System: Fast Plan Generation Through Heuristic Search , 2011, J. Artif. Intell. Res..

[9]  Thierry Siméon,et al.  Manipulation Planning with Probabilistic Roadmaps , 2004, Int. J. Robotics Res..

[10]  James J. Kuffner,et al.  Planning Among Movable Obstacles with Artificial Constraints , 2008, WAFR.

[11]  James J. Kuffner,et al.  OpenRAVE: A Planning Architecture for Autonomous Robotics , 2008 .

[12]  Rachid Alami,et al.  A Hybrid Approach to Intricate Motion, Manipulation and Task Planning , 2009, Int. J. Robotics Res..

[13]  Bernhard Nebel,et al.  Semantic Attachments for Domain-Independent Planning Systems , 2009, ICAPS.

[14]  Jean-Claude Latombe,et al.  Integrating task and PRM motion planning : Dealing with many infeasible motion planning queries , 2009 .

[15]  Gregory D. Hager,et al.  Sampling-Based Motion and Symbolic Action Planning with geometric and differential constraints , 2010, 2010 IEEE International Conference on Robotics and Automation.

[16]  Leslie Pack Kaelbling,et al.  Hierarchical Planning in the Now , 2010, Bridging the Gap Between Task and Motion Planning.

[17]  Esra Erdem,et al.  Combining high-level causal reasoning with low-level geometric reasoning and motion planning for robotic manipulation , 2011, 2011 IEEE International Conference on Robotics and Automation.

[18]  Victor Ng-Thow-Hing,et al.  Randomized multi-modal motion planning for a humanoid robot manipulation task , 2011, Int. J. Robotics Res..

[19]  Alessandro Saffiotti,et al.  Constraint propagation on interval bounds for dealing with geometric backtracking , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Siddhartha S. Srinivasa,et al.  A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty , 2012, Autonomous Robots.

[21]  Amit Kumar Pandey,et al.  Towards planning Human-Robot Interactive manipulation tasks: Task dependent and human oriented autonomous selection of grasp and placement , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[22]  B. Nebel,et al.  Lazy Evaluation and Subsumption Caching for Search-Based Integrated Task and Motion Planning , 2013 .

[23]  Leslie Pack Kaelbling,et al.  A hierarchical approach to manipulation with diverse actions , 2013, 2013 IEEE International Conference on Robotics and Automation.

[24]  Pieter Abbeel,et al.  Combined task and motion planning through an extensible planner-independent interface layer , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[25]  Leslie Pack Kaelbling,et al.  FFRob: An Efficient Heuristic for Task and Motion Planning , 2015, WAFR.