Integrated Robot Task and Motion Planning in the Now

This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that...

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Bibliographic Details
Main Authors: Kaelbling, Leslie Pack, Lozano-Perez, Tomas
Other Authors: Leslie Kaelbling
Published: 2012
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Online Access:http://hdl.handle.net/1721.1/71521

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