Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Combined Task and Motion Planning for Mobile Manipulation

Jason Wolfe, Bhaskara Marthi and Stuart J. Russell

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2010-27
March 8, 2010

http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-27.pdf

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 subproblems 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. This is an extended version of a paper by the same name appearing in ICAPS '10.


BibTeX citation:

@techreport{Wolfe:EECS-2010-27,
    Author = {Wolfe, Jason and Marthi, Bhaskara and Russell, Stuart J.},
    Title = {Combined Task and Motion Planning for Mobile Manipulation},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {2010},
    Month = {Mar},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-27.html},
    Number = {UCB/EECS-2010-27},
    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 subproblems 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.  This is an extended version of a paper by the same name appearing in ICAPS '10.}
}

EndNote citation:

%0 Report
%A Wolfe, Jason
%A Marthi, Bhaskara
%A Russell, Stuart J.
%T Combined Task and Motion Planning for Mobile Manipulation
%I EECS Department, University of California, Berkeley
%D 2010
%8 March 8
%@ UCB/EECS-2010-27
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-27.html
%F Wolfe:EECS-2010-27