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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Bibliographic Details
Main Authors: Kaelbling, Leslie P., Lozano-Perez, Tomas
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Published: Sage Publications 2014
Online Access:

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