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. Copyright © 2010, Association for the Advancement of Artificial Intelligence. All rights reserved.
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CITATION STYLE
Wolfe, J., Marthi, B., & Russell, S. (2010). Combined task and motion planning for mobile manipulation. In ICAPS 2010 - Proceedings of the 20th International Conference on Automated Planning and Scheduling (pp. 254–257). https://doi.org/10.1609/icaps.v20i1.13436
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