Unifying perception, estimation and action for mobile manipulation via belief space planning
Unifying perception, estimation and action for mobile manipulation via belief space planning
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DOI：
10.1109/icra.2012.6225237
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
L. Kaelbling;Tomas Lozano-Perez
中科院分区：
文献类型：
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作者：
L. Kaelbling;Tomas Lozano-Perez
在本文中，我们描述了复杂移动操作领域中规划、感知、状态估计和行动的集成策略。该策略基于状态概率分布的信念空间中的规划。我们的规划方法是基于分层符号回归（图像前反链）。我们开发了一套描述信念状态的流利词汇表，这些信念状态是计划过程中的目标和子目标。我们表明，相对较小的符号操作符集导致任务导向的感知，以支持操作目标。
In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical symbolic regression (pre-image back-chaining). We develop a vocabulary of fluents 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 lead to task-oriented perception in support of the manipulation goals.