  Robots in the real world should be able to adapt to unforeseen circumstances.
Particularly in the context of tool use, robots may not have access to the
tools they need for completing a task. In this paper, we focus on the problem
of tool construction in the context of task planning. We seek to enable robots
to construct replacements for missing tools using available objects, in order
to complete the given task. We introduce the Feature Guided Search (FGS)
algorithm that enables the application of existing heuristic search approaches
in the context of task planning, to perform tool construction efficiently. FGS
accounts for physical attributes of objects (e.g., shape, material) during the
search for a valid task plan. Our results demonstrate that FGS significantly
reduces the search effort over standard heuristic search approaches by
approximately 93% for tool construction.
