FFRob: An Efficient Heuristic for Task and Motion Planning

Manipulation problemsinvolvingmany objects present substantial challenges for motion planning algorithms due to the high dimensionality and multi-modality of the search space. Symbolic task planners can efficiently construct plans involving many entities but cannot incorporate the constraints from g...

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Bibliographic Details
Main Authors: Garrett, Caelan Reed, Lozano-Perez, Tomas, Kaelbling, Leslie P
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Published: Springer Cham 2017
Online Access:http://hdl.handle.net/1721.1/112348

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