Jason Wolfe, Bhaskara Marthi and Stuart J. Russell
EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2010-27
March 8, 2010
http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/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}, Institution = {EECS Department, University of California, Berkeley}, 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