Title:
Planning Among Movable Obstacles with Artificial Constraints
Planning Among Movable Obstacles with Artificial Constraints
Author(s)
Stilman, Mike
Kuffner, James J.
Kuffner, James J.
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Abstract
This paper presents artificial constraints as a method for guiding heuristic
search in the computationally challenging domain of motion planning among
movable obstacles. The robot is permitted to manipulate unspecified obstacles in
order to create space for a path. A plan is an ordered sequence of paths for robot
motion and object manipulation. We show that under monotone assumptions, anticipating
future manipulation paths results in constraints on both the choice of
objects and their placements at earlier stages in the plan. We present an algorithm
that uses this observation to incrementally reduce the search space and quickly find
solutions to previously unsolved classes of movable obstacle problems. Our planner
is developed for arbitrary robot geometry and kinematics. It is presented with an
implementation for the domain of navigation among movable obstacles.
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Date Issued
2008-11
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Article