Difference between revisions of "Problems"
From Tamp Benchmarking
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| − | I propose two problems (and | + | I propose two problems (Tower of Hanoi and Blocks-World 3D), which respect the requirements discussed above, and which are described in <ref>Fabien Lagriffoul. ''On Benchmarks for Combined Task and Motion Planning.'' TAMP Workshop, RSS 2016.</ref>. I find these problems interesting due to the strong dependencies between logical and geometric level, plus the fact that they can be scaled up [to be completed]. |
| − | + | Added the rearrangement planning problem following the discussion | |
| + | == Tower of Hanoi == | ||
| + | [[File:bm1.jpg|problem 1|300px]] | ||
| − | Work in progress: | + | Tower of Hanoi with mobile robots. Work in progress: converting this problem to a humanoid robot setup. |
| + | |||
| + | == Blocks-World 3D == | ||
| + | [[File:bm2.jpg|problem 2|300px]] | ||
| + | |||
| + | Blocks-World 3D with geometric constraint on the (mandatory) intermediate location. | ||
| + | |||
| + | == Rearrangement planning == | ||
| + | [[File:bm3.jpg|problem 3|400px]] | ||
| + | |||
| + | The rearrangement planning problem | ||
| + | <ref>G. Havur et al., ''Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach'', Proceedings of ICRA 2014.</ref> | ||
| + | <ref>F. Lagriffoul, B. Andres, ''Combining Task and Motion Planning: a culprit detection problem'', The International Journal of Robotics Research, 2016.</ref>. | ||
== References == | == References == | ||
Revision as of 13:46, 10 January 2017
I propose two problems (Tower of Hanoi and Blocks-World 3D), which respect the requirements discussed above, and which are described in [1]. I find these problems interesting due to the strong dependencies between logical and geometric level, plus the fact that they can be scaled up [to be completed].
Added the rearrangement planning problem following the discussion
Tower of Hanoi
Tower of Hanoi with mobile robots. Work in progress: converting this problem to a humanoid robot setup.
Blocks-World 3D
Blocks-World 3D with geometric constraint on the (mandatory) intermediate location.
Rearrangement planning
The rearrangement planning problem [2] [3].
References
- ↑ Fabien Lagriffoul. On Benchmarks for Combined Task and Motion Planning. TAMP Workshop, RSS 2016.
- ↑ G. Havur et al., Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach, Proceedings of ICRA 2014.
- ↑ F. Lagriffoul, B. Andres, Combining Task and Motion Planning: a culprit detection problem, The International Journal of Robotics Research, 2016.
