Hierarchical Task and Motion Planning in the Now
Workshop on Mobile Manipulation, IEEE International Conference on Robotics and Automation
| Main Authors: | , |
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| Other Authors: | |
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2010
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| Online Access: | http://hdl.handle.net/1721.1/54780 |
| _version_ | 1826203303969554432 |
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| author | Kaelbling, Leslie Pack Lozano-Perez, Tomas |
| author2 | Learning and Intelligent Systems |
| author_facet | Learning and Intelligent Systems Kaelbling, Leslie Pack Lozano-Perez, Tomas |
| author_sort | Kaelbling, Leslie Pack |
| collection | MIT |
| description | Workshop on Mobile Manipulation, IEEE International Conference on Robotics and Automation |
| first_indexed | 2024-09-23T12:34:31Z |
| id | mit-1721.1/54780 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T12:34:31Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | mit-1721.1/547802019-04-11T00:29:48Z Hierarchical Task and Motion Planning in the Now Kaelbling, Leslie Pack Lozano-Perez, Tomas Learning and Intelligent Systems Workshop on Mobile Manipulation, IEEE International Conference on Robotics and Automation In this paper we outline an approach to the integration of task planning and motion planning that has the following key properties: It is aggressively hierarchical. It makes choices and commits to them in a top-down fashion in an attempt to limit the length of plans that need to be constructed, and thereby exponentially decrease the amount of search required. Importantly, our approach also limits the need to project the effect of actions into the far future. It operates on detailed, continuous geometric representations and partial symbolic descriptions. It does not require a complete symbolic representation of the input geometry or of the geometric effect of the task-level operations. This work was supported in part by the National Science Foundation under Grant No. 0712012. 2010-05-12T23:00:07Z 2010-05-12T23:00:07Z 2010-05-07 http://hdl.handle.net/1721.1/54780 MIT-CSAIL-TR-2010-026 Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 Unported http://creativecommons.org/licenses/by-nc-nd/3.0/ 9 p. application/pdf |
| spellingShingle | Kaelbling, Leslie Pack Lozano-Perez, Tomas Hierarchical Task and Motion Planning in the Now |
| title | Hierarchical Task and Motion Planning in the Now |
| title_full | Hierarchical Task and Motion Planning in the Now |
| title_fullStr | Hierarchical Task and Motion Planning in the Now |
| title_full_unstemmed | Hierarchical Task and Motion Planning in the Now |
| title_short | Hierarchical Task and Motion Planning in the Now |
| title_sort | hierarchical task and motion planning in the now |
| url | http://hdl.handle.net/1721.1/54780 |
| work_keys_str_mv | AT kaelblinglesliepack hierarchicaltaskandmotionplanninginthenow AT lozanopereztomas hierarchicaltaskandmotionplanninginthenow |