Résumé
This paper proposes a new algorithm called States Path Finder (SPF) to solve the general prehensile manipulation problem for multiple robots and multiple objects. Using a constraint graph to represent the problem, SPF finds a list of transitions from the initial state to the goal state, computes a corresponding set of waypoints and connects the waypoints to form a continuous, collision-free solution path. We benchmark SPF on several problem instances with varying characteristics. The results suggest SPF's generality and also its higher efficiency in comparison to Manipulation-RRT, an existing RRT-like algorithm also based on the constraint graph.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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Florent Lamiraux : Connectez-vous pour contacter le contributeur
https://laas.hal.science/hal-03777018
Soumis le : jeudi 23 février 2023-10:46:43
Dernière modification le : mardi 8 octobre 2024-13:00:04
Dates et versions
- HAL Id : hal-03777018 , version 2
Citer
Quang Anh Le, Alexandre Thiault, Florent Lamiraux. States Path Finder: a general and efficient algorithm for prehensile manipulation planning. 2023. ⟨hal-03777018v2⟩
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