Title :
Search methodology with goal state optimization considering computational resource constraints - application of the method to the task of rearranging several movable objects
Author_Institution :
Sch. of Eng., Tokyo Univ.
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642002
