• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Invited Speakers, Seminars, and Events
    • IRIM Seminar Series
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Invited Speakers, Seminars, and Events
    • IRIM Seminar Series
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Integrated Task and Motion Planning in Belief Space

    Thumbnail
    View/Open
    lozano-perez.mp4 (157.8Mb)
    lozano-perez_videostream.html (985bytes)
    transcription.txt (50.13Kb)
    Date
    2013-04-03
    Author
    Lozano-Pérez, Tomás
    Metadata
    Show full item record
    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.
    URI
    http://hdl.handle.net/1853/46812
    Collections
    • IRIM Seminar Series [126]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology