A hierarchical approach to manipulation with diverse actions
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Kaelbling_A hierarchical.pdf
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2.29 MB
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Author(s)
Barry, Jennifer
Kaelbling, Leslie P.
Lozano-Perez, Tomas
Date Issued
May 2013
Journal
2013 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Barry, Jennifer, Leslie Pack Kaelbling, and Tomas Lozano-Perez. “A Hierarchical Approach to Manipulation with Diverse Actions.” 2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013. 2013 IEEE. p.1799-1806.
Version
Author's final manuscript
Abstract
We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the goal is to find a sequence of actions that moves each of the objects to a goal configuration. We show that the DAMA problem can be framed as a multi-modal planning problem and describe a hierarchical algorithm that takes advantage of this multi-modal nature. We also extend our earlier forward search sampling algorithm to a bi-directional version. We give results on a complicated manipulation domain and demonstrate that both new algorithms are significantly more efficient than the original, and that the hierarchical algorithm is usually much more efficient than the forward or bi-directional searches.
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
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DOI of Published Version
https://doi.org/10.1109/ICRA.2013.6630814
