Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation
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چکیده
We present our ongoing efforts to create a mobile manipulation database tool, a flexible multi-modal representation supporting persistent life-long adaptation for autonomous service robots in every-day environments. Its application to a prototypical domain illustrates how it provides symbol grounding to a reasoning system capable of learning new concepts, couples semantic planning with whole-body prioritized control, and supports exploration of uncertain and dynamic environments.
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تاریخ انتشار 2009