HTN Planning for Pick-and-Place Manipulation

Hisashi Hayashi, Hideki Ogawa, Nobuto Matsuhira


We introduce new heuristics of HTN (Hierarchical Task Network) planning for mobile robots with two arms/hands that pick and place objects among movable obstacles. Based on our new heuristics, the robot moves obstacles if necessary, picks and places the target objects without collisions. The robot chooses the (right or left) hand to use for each manipulation in order to avoid collisions and reduce the number of obstacle movements. In most of the previous approaches that combine task planning and motion planning, collisions between an arm and obstacles are checked only by the lower-level geometric motion planner. Therefore, the high-level general-purpose task planner often produces a plan that is not executable by the lower-level modules. On the other hand, in our new heuristics, the task planner roughly checks collisions, and produces executable plans.


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Paper Citation

in Harvard Style

Hayashi H., Ogawa H. and Matsuhira N. (2013). HTN Planning for Pick-and-Place Manipulation . In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8565-38-9, pages 383-388. DOI: 10.5220/0004226303830388

in Bibtex Style

author={Hisashi Hayashi and Hideki Ogawa and Nobuto Matsuhira},
title={HTN Planning for Pick-and-Place Manipulation},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},

in EndNote Style

JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - HTN Planning for Pick-and-Place Manipulation
SN - 978-989-8565-38-9
AU - Hayashi H.
AU - Ogawa H.
AU - Matsuhira N.
PY - 2013
SP - 383
EP - 388
DO - 10.5220/0004226303830388