FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning

Understand

Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces.

• Planners that perform a purely geometric search are prohibitively slow for solving these problems because they are unable to factor the configuration space.
• Symbolic task planners can efficiently construct plans involving many variables but cannot represent the geometric and kinematic constraints required in manipulation.
• We present the FFRob algorithm for solving task and motion planning problems.