Using backprojections for fine motion planning with uncertainty
International Journal of Robotics Research
A geometric approach to error detection and recovery for robot motion planning with uncertainty
Artificial Intelligence - Special issue on geometric reasoning
Applications of a logic of knowledge to motion planning under uncertainty
Journal of the ACM (JACM)
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Robot Motion Planning
Neuro-Dynamic Programming
Recent Advances in Hierarchical Reinforcement Learning
Discrete Event Dynamic Systems
Probabilistic Planning in the Graphplan Framework
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Automated Planning: Theory & Practice
Automated Planning: Theory & Practice
FLUX: A logic programming method for reasoning agents
Theory and Practice of Logic Programming
Planning Algorithms
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
A Hybrid Approach to Intricate Motion, Manipulation and Task Planning
International Journal of Robotics Research
Achieving master level play in 9×9 computer go
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Planning graph heuristics for belief space search
Journal of Artificial Intelligence Research
Knowledge preconditions for actions and plans
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
Planning in nondeterministic domains under partial observability via symbolic model checking
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
HERB: a home exploring robotic butler
Autonomous Robots
Real-time perception-guided motion planning for a personal robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Generating optimal plans in highly-dynamic domains
UAI '09 Proceedings of the Twenty-Fifth Conference on Uncertainty in Artificial Intelligence
Planning under Uncertainty for Robotic Tasks with Mixed Observability
International Journal of Robotics Research
Motion planning under uncertainty for robotic tasks with long time horizons
International Journal of Robotics Research
Sampling-based algorithms for optimal motion planning
International Journal of Robotics Research
LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information
International Journal of Robotics Research
DetH: approximate hierarchical solution of large Markov decision processes
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Planning under partial observability by classical replanning: theory and experiments
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Human-Inspired Robotic Grasp Control With Tactile Sensing
IEEE Transactions on Robotics
Planning with Markov Decision Processes: An AI Perspective
Planning with Markov Decision Processes: An AI Perspective
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We describe 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.