Title:
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
Author(s)
Stilman, Mike
Kuffner, James J.
Kuffner, James J.
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Abstract
In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO):
a practical extension to navigation for humanoids and other dexterous mobile robots.
The robot is permitted to reconfigure the environment by moving obstacles and clearing
free space for a path. This paper presents a resolution complete planner for a subclass
of NAMO problems. Our planner takes advantage of the navigational structure through
state-space decomposition and heuristic search. The planning complexity is reduced to
the difficulty of the specific navigation task, rather than the dimensionality of the multi-object
domain. We demonstrate real-time results for spaces that contain large numbers
of movable obstacles. We also present a practical framework for single-agent search that can be used in algorithmic reasoning about this domain.
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Date Issued
2005-12
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Article