Backward-Forward Search for Manipulation Planning

Abstract

In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct the sampling of the infinite action space in a forward search from the initial state towards a goal configuration. The resulting planner is probabilistically complete and can effectively construct long manipulation plans requiring both prehensile and nonprehensile actions in cluttered environments.

8 pages in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015

References in corpus (1)

• The FF Planning System: Fast Plan Generation Through Heuristic Search

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