Combined Task and Motion Planning for Mobile Manipulation

Authors

  • Jason Wolfe University of California, Berkeley
  • Bhaskara Marthi Willow Garage, Inc
  • Stuart Russell University of California, Berkeley

DOI:

https://doi.org/10.1609/icaps.v20i1.13436

Keywords:

mobile manipulation, hierarchical planning

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.

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Published

2021-05-25

How to Cite

Wolfe, J., Marthi, B., & Russell, S. (2021). Combined Task and Motion Planning for Mobile Manipulation. Proceedings of the International Conference on Automated Planning and Scheduling, 20(1), 254-257. https://doi.org/10.1609/icaps.v20i1.13436

Issue

Vol. 20 (2010): Twentieth International Conference on Automated Planning and Scheduling

Section

Short Technical Papers