Planning Among Movable Obstacles with Artificial Constraints

@article{Stilman2008PlanningAM,
  title={Planning Among Movable Obstacles with Artificial Constraints},
  author={Mike Stilman and James J. Kuffner},
  journal={I. J. Robotics Res.},
  year={2008},
  volume={27},
  pages={1295-1307}
}
This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified obstacles in order to create space for a path. A plan is an ordered sequence of paths for robot motion and object manipulation. We show that under monotone assumptions, anticipating future manipulation paths results in constraints on both the choice of objects and their… CONTINUE READING
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