Abstract— This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides r...
Ross A. Knepper, Siddhartha S. Srinivasa, Matthew ...
— People perform daily activities in many different ways. When setting a table, they might use a tray, stack plates, stack cups on plates, leave the doors of a cupboard open when...
From an automated planning perspective the problem of practical mobile robot control in realistic environments poses many important and contrary challenges. On the one hand, the p...
Service robots will have to accomplish more and more complex, open-ended tasks and regularly acquire new skills. In this work, we propose a new approach to generating plans for su...
Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its clo...
Hadas Kress-Gazit, Georgios E. Fainekos, George J....