ICRA 2011 Paper Abstract


Paper TuP109.4

Kaelbling, Leslie (MIT), Lozano-Perez, Tomas (MIT)

Hierarchical Planning in the Now

Scheduled for presentation during the Regular Sessions "Motion and Path Planning I" (TuP109), Tuesday, May 10, 2011, 14:25−14:40, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Mobile Manipulation, Motion and Path Planning, AI Reasoning Methods


In this paper we outline an approach to the integration of task planning and motion planning that has the following key properties: It is aggressively hierarchical; it makes choices and commits to them in a top-down fashion in an attempt to limit the length of plans that need to be constructed, and thereby exponentially decrease the amount of search required. It operates on detailed, continuous geometric representations and does not require a priori discretization of the state or action spaces.



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