Unifying perception, estimation and action for mobile manipulation via belief space planning

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 symbolic regre...

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Bibliographic Details
Main Authors: Lozano-Perez, Tomas, Kaelbling, Leslie P.
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Published: Institute of Electrical and Electronics Engineers (IEEE) 2014
Online Access:http://hdl.handle.net/1721.1/90270

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