A constraint-based method for solving sequential manipulation planning problems

In this paper, we describe a strategy for integrated task and motion planning based on performing a symbolic search for a sequence of high-level operations, such as pick, move and place, while postponing geometric decisions. Partial plans (skeletons) in this search thus pose a geometric constraint-satisfaction problem (CSP), involving sequences of placements and paths for the robot, and grasps and locations of objects. We propose a formulation for these problems in a discretized configuration space for the robot. The resulting problems can be solved using existing methods for discrete CSP.National Science Foundation (U.S.) (Grant 019868)United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051)United States. Air Force Office of Scientific Research (Grant AOARD-104135)Singapore. Ministry of Education (SUTD-MIT International Design Centre