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Paper WeC06.1

Gochev, Kalin (University of Pennsylvania), Safonova, Alla (University of Pennsylvania), Likhachev, Maxim (Carnegie Mellon University)

Planning with Adaptive Dimensionality for Mobile Manipulation

Scheduled for presentation during the Regular Session "Mobile Manipulation: Planning & Control" (WeC06), Wednesday, May 16, 2012, 14:30−14:45, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Mobile Manipulation, Manipulation Planning, Motion and Path Planning

Abstract

Mobile manipulation planning is a hard problem composed of multiple challenging sub-problems, some of which require searching through large high-dimensional state-spaces. The focus of this work is on computing a trajectory to safely maneuver an object through an environment, given the start and goal configurations. In this work we present a heuristic search-based deterministic mobile manipulation planner, based on our recently-developed algorithm for planning with adaptive dimensionality. Our planner demonstrates reasonable performance, while also providing strong guarantees on completeness and suboptimality bounds with respect to the graph representing the problem.

 

 

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