IROS 2015poster78 citations
Backward-forward search for manipulation planning
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Abstract
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.
BibTeX
@inproceedings{iros2015_backwardforwards,
title = {Backward-forward search for manipulation planning},
author = {Caelan Reed Garrett and Tomás Lozano-Pérez and Leslie Pack Kaelbling},
booktitle = {IROS 2015},
year = {2015}
}