Planning from First Principles for Geometric Constraint Satisfaction

Reference: Bhansali, S. & Kramer, G. A. Planning from First Principles for Geometric Constraint Satisfaction. Seattle, WA, 1994.

Abstract: An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by symbolically reasoning about geometry using a degrees of freedom analysis. The approach employs a set of specialized routines called plan fragments that specify how to change the configuration of a set of bodies to satisfy a new constraint while preserving existing constraints. In this paper we show how these plan fragments can be automatically synthesized using first principles about geometric bodies, actions, and topology.

Notes: April.

Full paper available as ps.

Jump to... [KSL] [SMI] [Reports by Author] [Reports by KSL Number] [Reports by Year]
Send mail to: ksl-info@ksl.stanford.edu to send a message to the maintainer of the KSL Reports.