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Robot planning in the space of feasible actions: two examples

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2 Author(s)
Singh, S. ; Field Robotics Center, Carnegie Mellon Univ., Pittsburgh, PA, USA ; Kelly, A.

Several researchers in robotics and artificial intelligence have found that the commonly used method of planning in a state (configuration) space is intractable in certain domains. This may be because the C-space has very high dimensionality, the “C-space obstacles” are too difficult to compute, or because a mapping between desired states and actions is not straightforward. Instead of using an inverse model that relates a desired state to an action to be executed by a robot, we have used a methodology that selects between the feasible actions that a robot might execute, in effect, circumventing many of the problems faced by configuration space planners. In this paper we discuss the implications of such a method and present two examples of working systems that employ this methodology. One system drives an autonomous cross-country vehicle while the other controls a robotic excavator performing a trenching operation

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996