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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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Sage Publications
2014
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| Online Access: | http://hdl.handle.net/1721.1/87038 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| _version_ | 1811087257688342528 |
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| author | Kaelbling, Leslie P. Lozano-Perez, Tomas |
| 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 |
| author_sort | Kaelbling, Leslie P. |
| collection | MIT |
| 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. |
| first_indexed | 2024-09-23T13:42:16Z |
| format | Article |
| id | mit-1721.1/87038 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:42:16Z |
| publishDate | 2014 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/870382022-10-01T16:38:50Z 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. 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 |
| spellingShingle | Kaelbling, Leslie P. Lozano-Perez, Tomas Integrated task and motion planning in belief space |
| title | 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_short | Integrated task and motion planning in belief space |
| title_sort | integrated task and motion planning in belief space |
| url | http://hdl.handle.net/1721.1/87038 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| work_keys_str_mv | AT kaelblinglesliep integratedtaskandmotionplanninginbeliefspace AT lozanopereztomas integratedtaskandmotionplanninginbeliefspace |