Constraint Satisfaction for Motion Feasibility Checking

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="1"><hr/></td></tr><tr><td class="align_left"><b>action</b> MoveBaseForPickUp</td></tr><tr><td class="align_left"><b>param</b> robot, obj, baseLoc0, baseLoc1</td></tr><tr><td class="align_left"><b>precond</b> robotAt (baseLoc0), objectAt (obj, objLoc),</td></tr><tr><td class="align_left">reachableBasePose (robot, obj, objLoc, baseLoc1), validBasePath (robot, baseLoc0, baseLoc1)</td></tr><tr><td class="align_left"><b>effect</b>—robotAt (baseLoc0), robotAt (baseLoc1)</td></tr><tr><td class="align_left"><b>action</b> MoveBaseForPutDown</td></tr><tr><td class="align_left"><b>param</b> robot, hand, obj, plane, baseLoc0, baseLoc1</td></tr><tr><td class="align_left"><b>precond</b> robotAt (baseLoc0), graspedBy (obj, hand),</td></tr><tr><td class="align_left">placeableBasePose (robot, obj, plane, baseLoc1), validBasePath (robot, baseLoc0, baseLoc1)</td></tr><tr><td class="align_left"><b>effect</b>—robotAt (baseLoc0), robotAt (baseLoc1)</td></tr><tr class="table-tr"><td colspan="1"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Action specifications for navigation.</div>

Mathematical Problems in Engineering

tab3

Table 3

Table 3: Constraint Satisfaction for Motion Feasibility Checking 