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Combined Task and Motion Planning for Mobile Manipulation

Authors

Jason Wolfe,Bhaskara Marthi,Stuart Russell

University of California, Berkeley,Willow Garage, Inc,University of California, Berkeley


Proceedings:

Vol. 20 (2010): Twentieth International Conference on Automated Planning and Scheduling

Volume

Issue:

Vol. 20 (2010): Twentieth International Conference on Automated Planning and Scheduling

Track:

Short Technical Papers

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Abstract:

We present a hierarchical planning system and its application to robotic manipulation.  The novel features of the system are: 1) it finds high-quality kinematic solutions to task-level problems; 2) it takes advantage of subtask-specific irrelevance information, reusing optimal solutions to state-abstracted subproblems across the search space.  We briefly describe how the system handles uncertainty during plan execution, and present results on discrete problems as well as pick-and-place tasks for a mobile robot.

DOI:

10.1609/icaps.v20i1.13436


ICAPS

Vol. 20 (2010): Twentieth International Conference on Automated Planning and Scheduling