AAAI Publications, Twentieth International Conference on Automated Planning and Scheduling

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Combined Task and Motion Planning for Mobile Manipulation
Jason Wolfe, Bhaskara Marthi, Stuart Russell

Last modified: 2010-04-20


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.


mobile manipulation; hierarchical planning

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