Integrated task and motion planning in belief space

We describe an integrated strategy for planning, perception, state estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logi...

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Main Authors: Kaelbling, Leslie P., Lozano-Perez, Tomas
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Sage Publications 2014
Online Access:http://hdl.handle.net/1721.1/87038
https://orcid.org/0000-0002-8657-2450
https://orcid.org/0000-0001-6054-7145
id mit1721.1-87038
record_format dspace
spelling mit1721.1-870382019-05-17T09:15:09Z Integrated task and motion planning in belief space Kaelbling, Leslie P. Lozano-Perez, Tomas Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Laboratory for Electromagnetic and Electronic Systems Kaelbling, Leslie P. Lozano-Perez, Tomas We describe an integrated strategy for planning, perception, state estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions 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 can give rise to task-oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a real PR2 robot, showing robust, flexible solution of mobile manipulation problems with multiple objects and substantial uncertainty. National Science Foundation (U.S.) (Grant 1117325) United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051) United States. Air Force Office of Scientific Research (Grant FA2386-10-1-4135) 2014-05-16T17:49:01Z 2014-05-16T17:49:01Z 2013-07 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/87038 Kaelbling, L. P., and T. Lozano-Perez. “Integrated Task and Motion Planning in Belief Space.” The International Journal of Robotics Research 32, no. 9–10 (August 1, 2013): 1194–1227. OPEN_ACCESS_POLICY https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 en_US http://dx.doi.org/10.1177/0278364913484072 The International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Sage Publications MIT web domain
institution DSpace@MIT
collection DSpace
language en_US
description We describe an integrated strategy for planning, perception, state estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions 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 can give rise to task-oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a real PR2 robot, showing robust, flexible solution of mobile manipulation problems with multiple objects and substantial uncertainty.
author2 Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
author_facet Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Kaelbling, Leslie P.
Lozano-Perez, Tomas
format Article
author Kaelbling, Leslie P.
Lozano-Perez, Tomas
spellingShingle Kaelbling, Leslie P.
Lozano-Perez, Tomas
Integrated task and motion planning in belief space
author_sort Kaelbling, Leslie P.
title Integrated task and motion planning in belief space
title_short Integrated task and motion planning in belief space
title_full Integrated task and motion planning in belief space
title_fullStr Integrated task and motion planning in belief space
title_full_unstemmed Integrated task and motion planning in belief space
title_sort integrated task and motion planning in belief space
publisher Sage Publications
publishDate 2014
url http://hdl.handle.net/1721.1/87038
https://orcid.org/0000-0002-8657-2450
https://orcid.org/0000-0001-6054-7145
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score 14.09242

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