Bilkent University
Department of Computer Engineering
CS 590/690 SEMINAR
SeGMan: Sequential and Guided Manipulation Planner for Robust Planning in 2D Constrained Environments
Cankut Bora Tuncer
Master Student
(Supervisor:Asst.Prof.Özgür Salih Öğüz)
Computer Engineering Department
Bilkent University
Abstract: In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimisation-based motion planning methods with a guided forward search to address complex, constrained sequential manipulation challenges, such as pick-and-place puzzles. SeGMan incorporates an adaptive subgoal selection method that adjusts the granularity of subgoals, enhancing overall efficiency. Furthermore, proposed generalizable heuristics guide the forward search in a more targeted manner. Extensive evaluations in mazelike tasks populated with numerous objects and obstacles demonstrate that SeGMan is capable of generating not only consistent and computationally efficient manipulation plans but also of outperforming state-of-the-art approaches
DATE: November 24, Monday @ 16:10 Place: EA 502