Title: Using Classical Planners for Tasks with Continuous Operators in Robotics
Idea:
- Provide an algorithm for high-level planning which utilized classic planners and low-level executing:
- Use Skolem symbols to instead continuous operators for high-level, discrete planning,
- use sampling to estimate the values of Skolem symbols and RRT-based techniques to implement movements representing each action in the plan.
- get error message from low level then return to high level planner to refine
Contribution:
- provides a method for synchronizing between continuous and discrete planning layers
- utilize classical planner when facts and operator effects over continuous variables are not available a priori
Experiment:
- simulated using OpenRave
- Pick and Place Scenario:
- planner: FastForward (well-established)
- 30 tests over 3 randomly generated environments
- 80 to 130 configurations
- the total average time is far less than the precomp-methods, and needs acceptable re-plan
- Dining Table Set-Up Scenario
- planner: FastDownward (cost-sensitive)
- required 230s, including execution