Using classical planners for tasks with continuous operators in robotics

Siddharth Srivastava, Lorenzo Riano, Stuart Russell, Pieter Abbeel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations


The need for high-level task planning in robotics is well understood. However, interfacing discrete planning with continuous actions often requires extensive engineering of the solution. For instance, picking up an object may require removing many others that obstruct it. Identifying the exact obstructions requires geometric reasoning which is prohibitively expensive to precompute, with results that are difficult to represent efficiently at the level of a discrete planner. We propose a new approach that utilizes representation techniques from first-order logic and provides a method for synchronizing between continuous and discrete planning layers. We evaluate the approach and illustrate its robustness through a number of experiments using a state-of-the-art robotics simulator, accomplishing a variety of challenging tasks like picking objects from cluttered environments, where the planner needs to figure out which other objects need to be moved first to be able to reach the target object, and laying out a table for dinner, where the planner figures out effective tray-loading, navigation and unloading strategies.

Original languageEnglish (US)
Title of host publicationIntelligent Robotic Systems - Papers from the 2013 AAAI Workshop, Technical Report
PublisherAI Access Foundation
Number of pages7
ISBN (Print)9781577356219
StatePublished - 2013
Externally publishedYes
Event2013 AAAI Workshop - Bellevue, WA, United States
Duration: Jul 14 2013Jul 15 2013

Publication series

NameAAAI Workshop - Technical Report


Other2013 AAAI Workshop
Country/TerritoryUnited States
CityBellevue, WA

ASJC Scopus subject areas

  • Engineering(all)


Dive into the research topics of 'Using classical planners for tasks with continuous operators in robotics'. Together they form a unique fingerprint.

Cite this