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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Detalles Bibliográficos
Autores Principales: Kaelbling, Leslie P., Lozano-Perez, Tomas
Otros Autores: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Formato: Artículo
Publicado: Sage Publications 2014
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