Title:
Integrated Task and Motion Planning in Belief Space
Integrated Task and Motion Planning in Belief Space
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Author(s)
Lozano-Pérez, Tomás
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Abstract
This talk describes an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states, using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning process. We show that a relatively small set of symbolic operators can give rise to task oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a real PR2 robot, showing robust, flexible solution of mobile manipulation problems with multiple objects and substantial uncertainty.
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Date Issued
2013-04-03
Extent
57:05 minutes
Resource Type
Moving Image
Resource Subtype
Lecture