Integrated task and motion planning in belief space
نویسندگان
چکیده
منابع مشابه
Integrated task and motion planning in belief space
We describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning...
متن کاملIntegrated robot task and motion planning in belief space
In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of fluents that describe sets of belief stat...
متن کاملIntegrated Robot Task and Motion Planning in the Now
This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that refer to poses, grasps, paths and regions, without the need for a priori discretization. Given th...
متن کاملIntegrated Task and Motion Planning for Mobile Service Robots
I. INTRODUCTION " Planning " , or selecting a sequence of actions to achieve a goal, has been a core focus of interest within the field of Artificial Intelligence (AI) since the field was founded in the 1950's. Initially, the focus of attention was on task planning which is concerned with sequencing actions within a symbolic representation of the state space [2]. When action costs are further i...
متن کاملIntegrated Task and Motion Planning Using Physics-based Heuristics
This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics-based motion planner, is proposed to evaluate the applicability and feasibility of manipulation actions and to compute the heuri...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2013
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364913484072