Search methodology with goal state optimization considering computational resource constraints - Application of the method to the task of rearranging several movable objects -

摘要

A searching methodology with goal state optimization considering computational resource constraints is proposed. The combination of "an extended graph search methodology" and "parallelization of task execution and on-line planning " makes it possible to solve the problem. The proposed method is evaluated with a rearrangement problem of 20 movable objects, and the effectiveness is shown through simulation results.