Integrated task and motion planning using physics based heuristics
This work presents a knowledge based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics based motion planner, is proposed to evaluate the applicability and feasibility of manipulation actions and to compute the heuristic values that guide the search. The proposal results in low cost physically feasible plans