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Pre-image Backchaining in Belief Space for Mobile Manipulation

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted one. In this work, we extend this approach to planning for mobile manipulation tasks with very long horizons, using a hierarchical combination of logical and geometric representations. We present a novel approach to belief-space preimage backchaining with logical representations, an efficient method for on-line execution monitoring and replanning, and preliminary results on mobile manipulation tasks.

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Author information

Authors and Affiliations

  1. CSAIL, MIT, Cambridge, MA, 02139, USA

    Leslie Pack Kaelbling & Tomás Lozano-Pérez

Authors
  1. Leslie Pack Kaelbling
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  2. Tomás Lozano-Pérez
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Corresponding author

Correspondence to Leslie Pack Kaelbling .

Editor information

Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Kaelbling, L.P., Lozano-Pérez, T. (2017). Pre-image Backchaining in Belief Space for Mobile Manipulation. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_22

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

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