Article

Combined task and motion planning for mobile manipulation

Authors:

Bhaskara Marthi,

Stuart RussellAuthors Info & Claims

ICAPS'10: Proceedings of the Twentieth International Conference on International Conference on Automated Planning and Scheduling

Pages 254 - 257

Published: 12 May 2010 Publication History

Abstract

We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-level problems; 2) it takes advantage of subtask-specific irrelevance information, reusing optimal solutions to state-abstracted sub-problems across the search space. We briefly describe how the system handles uncertainty during plan execution, and present results on discrete problems as well as pick-and-place tasks for a mobile robot.

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Cited By

Vasilopoulos VCastro SVega-Brown WKoditschck DRoy N(2022)A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9811936(7342-7348)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9811936
Saribatur ZPatoglu VErdem E(2019)Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoningAutonomous Robots10.1007/s10514-018-9721-x43:1(213-238)Online publication date: 1-Jan-2019
https://dl.acm.org/doi/10.1007/s10514-018-9721-x
Vega-Brown WRoy N(2018)Admissible abstractions for near-optimal task and motion planningProceedings of the 27th International Joint Conference on Artificial Intelligence10.5555/3304652.3304683(4852-4859)Online publication date: 13-Jul-2018
https://dl.acm.org/doi/10.5555/3304652.3304683
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Published In

cover image Guide Proceedings

ICAPS'10: Proceedings of the Twentieth International Conference on International Conference on Automated Planning and Scheduling

May 2010

271 pages

Sponsors

NSF: National Science Foundation
EPSRC: Engineering and Physical Sciences Research Council
Artificial Intelligence Journal

Publisher

AAAI Press

Publication History

Published: 12 May 2010

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Cited By

Vasilopoulos VCastro SVega-Brown WKoditschck DRoy N(2022)A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9811936(7342-7348)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9811936
Saribatur ZPatoglu VErdem E(2019)Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoningAutonomous Robots10.1007/s10514-018-9721-x43:1(213-238)Online publication date: 1-Jan-2019
https://dl.acm.org/doi/10.1007/s10514-018-9721-x
Vega-Brown WRoy N(2018)Admissible abstractions for near-optimal task and motion planningProceedings of the 27th International Joint Conference on Artificial Intelligence10.5555/3304652.3304683(4852-4859)Online publication date: 13-Jul-2018
https://dl.acm.org/doi/10.5555/3304652.3304683
Lo SZhang SStone PAndre EKoenig SDastani MSukthankar G(2018)PETLONProceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems10.5555/3237383.3237422(220-228)Online publication date: 9-Jul-2018
https://dl.acm.org/doi/10.5555/3237383.3237422
Andersen GKonidaris G(2017)Active exploration for learning symbolic representationsProceedings of the 31st International Conference on Neural Information Processing Systems10.5555/3295222.3295254(5016-5026)Online publication date: 4-Dec-2017
https://dl.acm.org/doi/10.5555/3295222.3295254
(2017)Deliberation for autonomous robotsArtificial Intelligence10.1016/j.artint.2014.11.003247:C(10-44)Online publication date: 1-Jun-2017
https://dl.acm.org/doi/10.1016/j.artint.2014.11.003
Marion PFallon MDeits RValenzuela APérez D'Arpino CIzatt GManuelli LAntone MDai HKoolen TCarter JKuindersma STedrake R(2017)DirectorJournal of Field Robotics10.1002/rob.2168134:2(262-280)Online publication date: 1-Mar-2017
https://dl.acm.org/doi/10.1002/rob.21681
Ranatunga IPopa DMakedon F(2012)Collision-free trajectory generation on assistive robot NeptuneProceedings of the 5th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/2413097.2413126(1-6)Online publication date: 6-Jun-2012
https://dl.acm.org/doi/10.1145/2413097.2413126
Krishnaswamy KSleeman JOates TBetke MMaglogiannis IPantziou G(2011)Real-time path planning for a robotic armProceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/2141622.2141635(1-4)Online publication date: 25-May-2011
https://dl.acm.org/doi/10.1145/2141622.2141635

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