Combined Task and Motion Planning for Mobile Manipulation

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.

• Type: Conference
• Year: 2010
• Where: AIPS
• Authors: Jason Wolfe, Bhaskara Marthi, Stuart J. Russell
• Keywords: AIPS 2010, Artificial Intelligence, Hierarchical Planning, Robotic Manipulation, Subtask-specific Irrelevance Information