Optimal, sampling-based manipulation planning

When robots perform manipulation tasks, they need to determine their own movement, as well as how to grasp and release an object. Reasoning about the motion of the robot and the object simultaneously leads to a multi-modal planning problem in a high-dimensional configuration space. In this paper we propose an asymptotically optimal manipulation planner. Our approach extends optimal sampling-based roadmap planners to efficiently explore the configuration space of the robot and the object. We prove probabilistic completeness and global, asymptotic optimality. Extensive simulations of a typical pick-and-place scenario show that our approach significantly outperforms a (nonoptimal) state-of-the-art approach. We implemented our planner on a real manipulator and were able to compute high quality solutions in less than a second.

[1]  Mark H. Overmars,et al.  Creating High-quality Paths for Motion Planning , 2007, Int. J. Robotics Res..

[2]  Jörg Hoffmann,et al.  FF: The Fast-Forward Planning System , 2001, AI Mag..

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

[4]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

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

[6]  Richard I. Hartley,et al.  Optimised KD-trees for fast image descriptor matching , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[7]  Kensuke Harada,et al.  A manipulation motion planner for dual-arm industrial manipulators , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[8]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[9]  Kris Hauser,et al.  Lazy collision checking in asymptotically-optimal motion planning , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Emilio Frazzoli,et al.  Sampling-based algorithms for optimal motion planning , 2011, Int. J. Robotics Res..

[11]  Lydia E. Kavraki,et al.  Path planning using lazy PRM , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  L. Dagum,et al.  OpenMP: an industry standard API for shared-memory programming , 1998 .

[13]  Kris K. Hauser.  Task Planning with Continuous Actions and Nondeterministic Motion Planning Queries , 2010 .

[14]  Rachid Alami,et al.  Overview of aSyMov: Integrating Motion, Manipulation and Task Planning , 2003 .

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

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

[17]  Jean-Claude Latombe,et al.  On the Probabilistic Foundations of Probabilistic Roadmap Planning , 2006, Int. J. Robotics Res..

[18]  Craig A. Knoblock,et al.  PDDL-the planning domain definition language , 1998 .

[19]  Dinesh Manocha,et al.  FCL: A general purpose library for collision and proximity queries , 2012, 2012 IEEE International Conference on Robotics and Automation.

[20]  Caelan Reed Garrett,et al.  Backward-Forward Search for Manipulation Planning Completeness Argument , 2015 .

[21]  Léonard Jaillet,et al.  Efficient asymptotically-optimal path planning on manifolds , 2013, Robotics Auton. Syst..

[22]  Léonard Jaillet,et al.  Asymptotically-optimal Path Planning on Manifolds , 2012, Robotics: Science and Systems.

[23]  Emilio Frazzoli,et al.  Optimal kinodynamic motion planning using incremental sampling-based methods , 2010, 49th IEEE Conference on Decision and Control (CDC).

[24]  Thierry Siméon,et al.  A manipulation planner for pick and place operations under continuous grasps and placements , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[25]  David G. Lowe,et al.  Scalable Nearest Neighbor Algorithms for High Dimensional Data , 2014, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[26]  Robert Kohl.  Algorithms And Data Structures The Basic Toolbox , 2016 .

[27]  Siddhartha S. Srinivasa,et al.  Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  Nicholas Roy,et al.  Asymptotically Optimal Planning under Piecewise-Analytic Constraints , 2016, WAFR.

[29]  Jean-Claude Latombe,et al.  Multi-modal Motion Planning in Non-expansive Spaces , 2010, Int. J. Robotics Res..