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States Path Finder: a general and efficient algorithm for prehensile manipulation planning

Abstract : This paper proposes a new algorithm called States Path Finder (SPF) to solve the general prehensile manipulation problem for multiple robots and multiple objects. Using a constraint graph to represent the problem, SPF finds a list of transitions from the initial state to the goal state, computes a corresponding set of waypoints and connects the waypoints to form a continuous, collision-free solution path. We benchmark SPF on several problem instances with varying characteristics. The results suggest SPF's generality and also its higher efficiency in comparison to Manipulation-RRT, an existing RRT-like algorithm also based on the constraint graph.
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Preprints, Working Papers, ...
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https://hal.laas.fr/hal-03777018
Contributor : Quang Anh Le Connect in order to contact the contributor
Submitted on : Wednesday, September 14, 2022 - 11:26:27 AM
Last modification on : Tuesday, October 25, 2022 - 11:58:11 AM

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  • HAL Id : hal-03777018, version 1

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Quang Anh Le, Alexandre Thiault, Florent Lamiraux. States Path Finder: a general and efficient algorithm for prehensile manipulation planning. 2022. ⟨hal-03777018⟩

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