Unifying perception, estimation and action for mobile manipulation via belief space planning
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Lozano-Perez_Unifying perception.pdf
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414.24 KB
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Author(s)
Lozano-Perez, Tomas
Kaelbling, Leslie P.
Date Issued
May 2012
Journal
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Kaelbling, Leslie Pack, and Tomas Lozano-Perez. “Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning.” 2012 IEEE International Conference on Robotics and Automation (May 2012).
Version
Author's final manuscript
Abstract
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 symbolic regression (pre-image back-chaining). We develop a vocabulary of fluents that describe sets of belief states, which are goals and subgoals in the planning process. We show that a relatively small set of symbolic operators lead to task-oriented perception in support of the manipulation goals.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2012.6225237
