Combined Task and Motion Planning for Mobile Manipulation

Jason Wolfe and Bhaskara Marthi and Stuart J. Russell

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2010-27

March 8, 2010

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http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/Archive/EECS-2010-27.pdf

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. This is an extended version of a paper by the same name appearing in ICAPS '10.

BibTeX citation:

@techreport{Wolfe:EECS-2010-27,
    Author= {Wolfe, Jason and Marthi, Bhaskara and Russell, Stuart J.},
    Title= {Combined Task and Motion Planning for Mobile Manipulation},
    Year= {2010},
    Month= {Mar},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-27.html},
    Number= {UCB/EECS-2010-27},
    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.  This is an extended version of a paper by the same name appearing in ICAPS '10.},
}

EndNote citation:

%0 Report
%A Wolfe, Jason 
%A Marthi, Bhaskara 
%A Russell, Stuart J. 
%T Combined Task and Motion Planning for Mobile Manipulation
%I EECS Department, University of California, Berkeley
%D 2010
%8 March 8
%@ UCB/EECS-2010-27
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-27.html
%F Wolfe:EECS-2010-27