aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems

Fabien Gravot (1) , Stéphane Cambon (1) , Rachid Alami (1, 2)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 LAAS-RIS - Équipe Robotique et InteractionS

We propose an original approach to integrate symbolic task planning and geometric motion and manipulation planning. We focus more particularly on one key aspect: the relation between the symbolic positions and their geometric counterparts. Indeed, we have developed an instantiation process that is able to propagate incrementally task-dependent as well as 3D environment-dependent constraints and to guide efficiently the search until valid geometric configurations are found that satisfy the plan at both levels. The overall process is discussed and illustrated through an implemented example.

Domaines: Informatique [cs]; Robotique [cs.RO]

Fabien Gravot, Stéphane Cambon, Rachid Alami. aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems. Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics,, 15, pp.100-110, 2005. ⟨hal-01972666⟩