Integrating symbolic and geometric planning for mobile manipulation

  title={Integrating symbolic and geometric planning for mobile manipulation},
  author={Christian Dornhege and Marc Gissler and Matthias Teschner and Bernhard Nebel},
  journal={2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR 2009)},
Mobile manipulation requires to solve multiple subproblems. One is planning in high-dimensional configuration spaces, that we approach in this work. We decompose the manipulation problem into a symbolic and a geometric part. The symbolic part is implemented as a classical symbolic planner that tightly integrates a geometric planner enabling us to efficiently generate correct plans. A probabilistic roadmap planner constitutes the geometric part. During the computation of the roadmap we utilize… CONTINUE READING
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