Motion planning in the presence of movable obstacles
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
A geometrical approach to planning manipulation tasks. The case of discrete placements and grasps
The fifth international symposium on Robotics research
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Two manipulation planning algorithms
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Formalizing the PRODIGY planning algorithm
New directions in AI planning
Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
A general framework for assembly planning: the motion space approach
Proceedings of the fourteenth annual symposium on Computational geometry
Robot Motion Planning
Complete Determination of Parallel Actions and Temporal Optimization in Linear Plans of Action
EWSP '91 Proceedings of the European Workshop on Planning
Automated Planning: Theory & Practice
Automated Planning: Theory & Practice
Planning Algorithms
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
PDDL2.1: an extension to PDDL for expressing temporal planning domains
Journal of Artificial Intelligence Research
The metric-FF planning system: translating "Ignoring delete lists" to numeric state variables
Journal of Artificial Intelligence Research
Engineering benchmarks for planning: the domains used in the deterministic part of IPC-4
Journal of Artificial Intelligence Research
Randomized multi-modal motion planning for a humanoid robot manipulation task
International Journal of Robotics Research
Integrated task and motion planning in belief space
International Journal of Robotics Research
Robotics and artificial intelligence: A perspective on deliberation functions
AI Communications - ECAI 2012 Turing and Anniversary Track
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We propose a representation and a planning algorithm able todeal with problems integrating task planning as well as motion andmanipulation planning knowledge involving several robots andobjects. Robot plans often include actions where the robot has toplace itself in some position in order to perform some other actionor to "modify" the configuration of its environment by displacingobjects. Our approach aims at establishing a bridge between taskplanning and manipulation planning that allows a rigorous treatmentof geometric preconditions and effects of robot actions inrealistic environments. We show how links can be establishedbetween a symbolic description and its geometric counterpart andhow they can be used in an integrated planning process that is ableto deal with intricate symbolic and geometric constraints. Finally,we describe the main features of an implemented planner and discussseveral examples of its use.