Tower of Hanoi Challenge

Posted on January 17th, 2013

Tower of Hanoi Challenge provides a good standardized test bed to evaluate integration of high-level reasoning capabilities of robots together with their manipulation and perception aspects.We address this challenge within a general planning and monitoring framework: we represent the puzzle in a logic-based formalism, integrate task planning and motion planning, solve this hybrid planning problem with a state-of-the-art automated reasoner (e.g., a SAT solver), execute the computed plans under feedback control while also monitoring for failures, and recover from failures as required.

tower_of_hanoi

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