Constraint Satisfaction for Motion Feasibility Checking

Table 9

Experiment setting: task plan skeleton.

Task plan skeleton	Action sequence
	1 MoveBaseForPickUp (...)
	2 PickUpGeneral (...)
	3 MoveBaseForPutDown (...)
	4 PutDownGeneral (...)
	1 MoveBaseForPickUp (...)
	2 PickUpGeneral (...)
	3 MoveBaseForPutDown (...)
	4 PutDownGeneral (...)
	5 MoveBaseForPickUp (...)
	6 PickUpGeneral (...)
	7 MoveBaseForPutDown (...)
	8 PutDownGeneral (...)