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