DocumentCode
2098815
Title
Search methodology with goal state optimization considering computational resource constraints - application of the method to the task of rearranging several movable objects
Author
Ota, Jun
Author_Institution
Sch. of Eng., Tokyo Univ.
fYear
2006
fDate
15-19 May 2006
Firstpage
2023
Lastpage
2028
Abstract
A searching methodology with goal state optimization considering computational resource constraints is proposed. The combination of "an extended graph search methodology" and "parallelization of task execution and on-line planning " makes it possible to solve the problem. The proposed method is evaluated with a rearrangement problem of 20 movable objects, and the effectiveness is shown through simulation results
Keywords
optimisation; planning (artificial intelligence); robots; computational resource constraints; extended graph search methodology; goal state optimization; rearrangement planning; Computational modeling; Constraint optimization; Containers; Cost function; Motion planning; Optimization methods; Parallel robots; Performance analysis; Robot motion; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642002
Filename
1642002
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