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...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2014
|
| Online Access: | http://hdl.handle.net/1721.1/90270 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| _version_ | 1826193327276425216 |
|---|---|
| author | Lozano-Perez, Tomas Kaelbling, Leslie P. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Lozano-Perez, Tomas Kaelbling, Leslie P. |
| author_sort | Lozano-Perez, Tomas |
| collection | MIT |
| description | 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 regression (pre-image back-chaining). We develop a vocabulary of fluents 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 lead to task-oriented perception in support of the manipulation goals. |
| first_indexed | 2024-09-23T09:37:36Z |
| format | Article |
| id | mit-1721.1/90270 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:37:36Z |
| publishDate | 2014 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/902702022-09-30T15:43:58Z Unifying perception, estimation and action for mobile manipulation via belief space planning Lozano-Perez, Tomas Kaelbling, Leslie P. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kaelbling, Leslie P. Lozano-Perez, Tomas 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 regression (pre-image back-chaining). We develop a vocabulary of fluents 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 lead to task-oriented perception in support of the manipulation goals. National Science Foundation (U.S.) (Grant 019868) United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051) United States. Air Force Office of Scientific Research (Grant AOARD-104135) 2014-09-22T18:43:31Z 2014-09-22T18:43:31Z 2012-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-1405-3 978-1-4673-1403-9 978-1-4673-1578-4 978-1-4673-1404-6 http://hdl.handle.net/1721.1/90270 Kaelbling, Leslie Pack, and Tomas Lozano-Perez. “Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning.” 2012 IEEE International Conference on Robotics and Automation (May 2012). https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 en_US http://dx.doi.org/10.1109/ICRA.2012.6225237 Proceedings of the 2012 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Lozano-Perez, Tomas Kaelbling, Leslie P. Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title | Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title_full | Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title_fullStr | Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title_full_unstemmed | Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title_short | Unifying perception, estimation and action for mobile manipulation via belief space planning |
| title_sort | unifying perception estimation and action for mobile manipulation via belief space planning |
| url | http://hdl.handle.net/1721.1/90270 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| work_keys_str_mv | AT lozanopereztomas unifyingperceptionestimationandactionformobilemanipulationviabeliefspaceplanning AT kaelblinglesliep unifyingperceptionestimationandactionformobilemanipulationviabeliefspaceplanning |