Integrated task and motion planning in belief space

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 logi...

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Veröffentlicht in:	The International journal of robotics research 2013-08, Vol.32 (9-10), p.1194-1227
Hauptverfasser:	Kaelbling, Leslie Pack, Lozano-Pérez, Tomás
Format:	Artikel
Sprache:	eng
Schlagworte:	Mathematical problems Perception Probability distribution Regression Regression analysis Robotics Robots Simulation State estimation Strategy Tasks Uncertainty
Online-Zugang:	Volltext
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