Abstract-In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm that uses a backward identification of constraints to direct the sampling of the infinite action space in a forward search from the initial state towards a goal configuration. The resulting planner is probabilistically complete and can effectively construct long manipulation plans requiring both prehensile and nonprehensile actions in cluttered environments.
The Hybrid Backward Forward (HBF) algorithm REF was proposed as an action planner in infinite state space.
Backward-Forward Search for Manipulation Planning
ArXiv
ArXiv
Computer Science