Show simple item record

dc.contributor.authorLevihn, Martin
dc.contributor.authorKaelbling, Leslie Pack
dc.contributor.authorLozano-Pérez, Tomás
dc.contributor.authorStilman, Mike
dc.date.accessioned2013-11-18T15:44:34Z
dc.date.available2013-11-18T15:44:34Z
dc.date.issued2013-11
dc.identifier.citationLevihn, M.; Kaelbling, L.; Lozano-Perez, T. & Stilman, M. (2013). "Foresight and Reconsideration in Hierarchical Planning and Execution". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-7 November 2013.
dc.identifier.urihttp://hdl.handle.net/1853/49426
dc.description© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.descriptionPresented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-7 November 2013, Tokyo, Japan.
dc.description.abstractWe present a hierarchical planning and execution architecture that maintains the computational efficiency of hierar- chical decomposition while improving optimality. It provides mech- anisms for monitoring the belief state during execution and per- forming selective replanning to repair poor choices and take advan- tage of new opportunities. It also provides mechanisms for looking ahead into future plans to avoid making short-sighted choices. The effectiveness of this architecture is shown through comparative experiments in simulation and demonstrated on a real PR2 robot.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAI reasoning methodsen_US
dc.subjectIntegrated task and motion planningen_US
dc.subjectMobile manipulationen_US
dc.titleForesight and Reconsideration in Hierarchical Planning and Executionen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.embargo.termsnullen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record