Decidability in robot manipulation planning

Marilena Vendittelli, Andrea Cristofaro, Jean Paul Laumond, Bud Mishra

Research output: Contribution to journalArticlepeer-review


Consider the problem of planning collision-free motion of n objects movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of m≤ n objects simultaneously. This represents the abstract formulation of a general class of manipulation planning problems that are proven to be decidable in this paper. The tools used for proving decidability of this simplified manipulation planning problem are, in fact, general enough to handle the decidability problem for the wider class of systems characterized by a stratified configuration space. These include, e.g., problems of legged and multi-contact locomotion, bi-manual manipulation. In addition, the approach described does not restrict the dynamics of the manipulation system modeled.

Original languageEnglish (US)
Pages (from-to)679-692
Number of pages14
JournalAutonomous Robots
Issue number5
StatePublished - Jun 2021


  • Decidability
  • Manipulation systems
  • Stratified controllability

ASJC Scopus subject areas

  • Artificial Intelligence


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