反復深化AND/ORグラフネットワークを用いたタスク・動作計画フレームワーク
A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
AND/ORグラフネットワークでタスク状態と行動をコンパクトに表現し、目標把持が可能になるまでオンラインでグラフを拡張するタスク・動作計画手法を提案。散らかった卓上での物体把持をBaxterロボットとシミュレータで検証した。
著者: Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
分類: cs.RO, cs.AI
原文アブストラクト
We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While retrieving a target object from clutter, the number of object re-arrangements required to grasp the target is not known ahead of time. To address this challenge, in contrast to traditional AND/OR graph-based planners, we grow the AND/OR graph online until the target grasp is feasible and thereby obtain a network of AND/OR graphs. The AND/OR graph network allows faster computations than traditional task planners. We validate our approach and evaluate its capabilities using a Baxter robot and a state-of-the-art robotics simulator in several challenging non-trivial cluttered table-top scenarios. The experiments show that our approach is readily scalable to increasing number of objects and different degrees of clutter.
