Pushing the boundaries of asymptotic optimality in integrated task and motion planning

DOI10.1007/978-3-030-66723-8_28zbMATH Open1469.68136arXiv1903.01006OpenAlexW3195008896MaRDI QIDQ3381997FDOQ3381997

Rahul Shome, Kostas E. Bekris, Daniel Nakhimovich

Publication date: 20 September 2021

Published in: Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Abstract: Integrated task and motion planning problems describe a multi-modal state space, which is often abstracted as a set of smooth manifolds that are connected via sets of transitions states. One approach to solving such problems is to sample reachable states in each of the manifolds, while simultaneously sampling transition states. Prior work has shown that in order to achieve asymptotically optimal (AO) solutions for such piecewise-smooth task planning problems, it is sufficient to double the connection radius required for AO sampling-based motion planning. This was shown under the assumption that the transition sets themselves are smooth. The current work builds upon this result and demonstrates that it is sufficient to use the same connection radius as for standard AO motion planning. Furthermore, the current work studies the case that the transition sets are non-smooth boundary points of the valid state space, which is frequently the case in practice, such as when a gripper grasps an object. This paper generalizes the notion of clearance that is typically assumed in motion and task planning to include such individual, potentially non-smooth transition states. It is shown that asymptotic optimality is retained under this generalized regime.

Full work available at URL: https://arxiv.org/abs/1903.01006

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Mathematics Subject Classification ID

Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05) Artificial intelligence for robotics (68T40)

Cites Work

• Random Geometric Graphs
• On Poincaré cone property
• Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games
• Multi-modal Motion Planning in Non-expansive Spaces

Cited In (1)

• Bounded-rate multi-mode systems based motion planning

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