Integrated robot task and motion planning in belief space

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 goal regressio...

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Bibliographic Details
Main Authors: Kaelbling, Leslie Pack, Lozano-Perez, Tomas
Other Authors: Leslie Kaelbling
Published: 2012
Online Access:http://hdl.handle.net/1721.1/71529

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