Summary |
The last ten years have led to significant advances in action planning. However, the impact of these advances has been rather limited in the area of manipulating spatial entities as it is necessary in a robotics context. In this project, we address this shortcoming by integrating symbolic and spatial planning. In particular, we account for cases where spatial planning influences the symbolic planning process due to execution failures and optimization criteria. Methods from computational geometry will be employed to efficiently generate search heuristics and trajectories that are as safe as possible.
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