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Authors: Hisashi Hayashi 1 ; Hideki Ogawa 1 and Nobuto Matsuhira 2

Affiliations: 1 Toshiba Corporation, Japan ; 2 Shibaura Institute of Technology, Japan

Keyword(s): HTN Planning, Manipulation, Robot.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Cognitive Robotics ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Knowledge Representation and Reasoning ; Planning and Scheduling ; Robot and Multi-Robot Systems ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems ; Task Planning and Execution

Abstract: We introduce new heuristics of HTN (Hierarchical Task Network) planning for mobile robots with two arms/hands that pick and place objects among movable obstacles. Based on our new heuristics, the robot moves obstacles if necessary, picks and places the target objects without collisions. The robot chooses the (right or left) hand to use for each manipulation in order to avoid collisions and reduce the number of obstacle movements. In most of the previous approaches that combine task planning and motion planning, collisions between an arm and obstacles are checked only by the lower-level geometric motion planner. Therefore, the high-level general-purpose task planner often produces a plan that is not executable by the lower-level modules. On the other hand, in our new heuristics, the task planner roughly checks collisions, and produces executable plans.


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Paper citation in several formats:
Hayashi, H.; Ogawa, H. and Matsuhira, N. (2013). HTN Planning for Pick-and-Place Manipulation. In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-8565-38-9; ISSN 2184-433X, SciTePress, pages 383-388. DOI: 10.5220/0004226303830388

author={Hisashi Hayashi. and Hideki Ogawa. and Nobuto Matsuhira.},
title={HTN Planning for Pick-and-Place Manipulation},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},


JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - HTN Planning for Pick-and-Place Manipulation
SN - 978-989-8565-38-9
IS - 2184-433X
AU - Hayashi, H.
AU - Ogawa, H.
AU - Matsuhira, N.
PY - 2013
SP - 383
EP - 388
DO - 10.5220/0004226303830388
PB - SciTePress