Implicit belief-space pre-images for hierarchical planning and execution

Leslie Pack Kaelbling; Tomás Lozano-Pérez

ICRA 201611 citations

Implicit belief-space pre-images for hierarchical planning and execution

Leslie Pack Kaelbling, Tomás Lozano-Pérez

Abstract

We present a method for planning and execution in very high-dimensional mixed discrete and continuous spaces in the presence of uncertainty using an implicit, factored approximation representation of pre-images and extend it to planning in belief space. We demonstrate the approach in a mobile-manipulation domain combining pushing with pick-and-place manipulation with error in sensing and manipulation. We show empirically that execution monitoring using pre-images improves computational efficiency over continual replanning, and that the hierarchical planning method it enables provides further efficiency improvements.

BibTeX

@inproceedings{icra2016_implicitbeliefsp,
  title = {Implicit belief-space pre-images for hierarchical planning and execution},
  author = {Leslie Pack Kaelbling and Tomás Lozano-Pérez},
  booktitle = {ICRA 2016},
  year = {2016}
}