Pre-image Backchaining in Belief Space for Mobile Manipulation
Name
ISRR11.pdf
Description
Accepted version
Size
348.46 KB
Format
Adobe PDF
Checksum (MD5)
0cff662bfcdf45670154c153aba37904
Author(s)
Kaelbling, Leslie Pack
Lozano-Pérez, Tomás
Date Issued
August 26, 2016
Publisher
Springer International Publishing
Citation
Kaelbling, Leslie Pack and Lozano-Pérez, Tomás. 2016. "Pre-image Backchaining in Belief Space for Mobile Manipulation."
Version
Author's final manuscript
Abstract
© Springer International Publishing Switzerland 2017. There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted one. In this work, we extend this approach to planning for mobile manipulation tasks with very long horizons, using a hierarchical combination of logical and geometric representations. We present a novel approach to belief-space preimage backchaining with logical representations, an efficient method for on-line execution monitoring and replanning, and preliminary results on mobile manipulation tasks.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/978-3-319-29363-9_22
