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KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner

Andre Gaschler, Ronald P. A. Petrick, Oussama Khatib, Alois Knoll
2018 The Journal of Artificial Intelligence Research  
We present a framework, called KABouM, for integrating knowledge-level task planning and motion planning in a bounding geometry.  ...  volumes of motions--by sets of convex polyhedra, we can efficiently plan manipulation actions and raise reasoning about geometric predicates, such as collisions, to the symbolic level.  ...  Acknowledgements The authors would like to thank Torsten Kröger, Svetlana Nogina, Quirin Fischer, and Sören Jentzsch for their help with the implementation and evaluation, and Markus Rickert for his comments  ... 
doi:10.1613/jair.5560 fatcat:c7sga7fdffg4rl3k5vypntq5he