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.
Apr 12, 2016 · Abstract:In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation ...
Our system uses the hybrid backward-forward (HBF) planning algorithm as a task- planner along with humanoid manipulation primitives for pick, place, move, and ...
In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems ...
The hybrid backward-forward (HBF) planning algorithm is presented that uses a backward identification of constraints to direct the sampling of the infinite ...
We propose a system for solving humanoid manipulation problems that balances the trade-off between efficiency and completeness. Our system uses the hybrid ...
This paper explores combining task and manip- ulation planning for humanoid robots. Existing methods tend to either take prohibitively long to compute for ...
The second is the IKBiRRT algorithm, which uses a forward-searching tree rooted at the start and a backward-searching tree that is seeded by WGR samples. We ...
The second is the IKBiRRT algorithm, which uses a forward-searching tree rooted at the start and a backward-searching tree that is seeded by WGR samples. We ...
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