Citation
S. Srivastava, E. Fang, L. Riano, R. Chitnis, S. Russell, P. Abbeel. "Combined Task and Motion Planning Through an Extensible Planner-Independent Interface Layer". IEEE International Conference on Robotics and Automation (ICRA), 2014.

Abstract
The need for combined task and motion planning in robotics is well understood. Solutions to this problem have typically relied on special purpose, integrated implementations of task planning and motion planning algorithms. We propose a new approach that uses off-the-shelf task planners and motion planners and makes no assumptions about their implementation. Doing so enables our approach to directly build on, and benefit from, the vast literature and latest advances in task planning and motion planning. It uses a novel representational abstraction and requires only that failures in computing a motion plan for a high-level action be identifiable and expressible in the form of logical predicates at the task level. We evaluate the approach and illustrate its robustness through a number of experiments using a state-of-the-art robotics simulator and a PR2 robot. These experiments show the system accomplishing a diverse set of challenging tasks such as taking advantage of a tray when laying out a table for dinner and picking objects from cluttered environments where other objects need to be re-arranged before the target object can be reached.

Electronic downloads

• icra14-planrob.pdf · application/pdf · 3503 kbytes

• HTML

  S. Srivastava, E. Fang, L. Riano, R. Chitnis, S. Russell, P.
  Abbeel. <a
  href="http://robotics.eecs.berkeley.edu/pubs/25.html"
  >Combined Task and Motion Planning Through an Extensible
  Planner-Independent Interface Layer</a>, IEEE
  International Conference on Robotics and Automation (ICRA),
  2014.

• Plain text

  S. Srivastava, E. Fang, L. Riano, R. Chitnis, S. Russell, P.
  Abbeel. "Combined Task and Motion Planning Through an
  Extensible Planner-Independent Interface Layer". IEEE
  International Conference on Robotics and Automation (ICRA),
  2014.

• BibTeX

  @inproceedings{SrivastavaFangRianoChitnisRussellAbbeel14_CombinedTaskMotionPlanningThroughExtensiblePlannerIndependent,
      author = {S. Srivastava and E. Fang and L. Riano and R.
                Chitnis and S. Russell and P. Abbeel},
      title = {Combined Task and Motion Planning Through an
                Extensible Planner-Independent Interface Layer},
      booktitle = {IEEE International Conference on Robotics and
                Automation (ICRA)},
      year = {2014},
      abstract = {The need for combined task and motion planning in
                robotics is well understood. Solutions to this
                problem have typically relied on special purpose,
                integrated implementations of task planning and
                motion planning algorithms. We propose a new
                approach that uses off-the-shelf task planners and
                motion planners and makes no assumptions about
                their implementation. Doing so enables our
                approach to directly build on, and benefit from,
                the vast literature and latest advances in task
                planning and motion planning. It uses a novel
                representational abstraction and requires only
                that failures in computing a motion plan for a
                high-level action be identifiable and expressible
                in the form of logical predicates at the task
                level. We evaluate the approach and illustrate its
                robustness through a number of experiments using a
                state-of-the-art robotics simulator and a PR2
                robot. These experiments show the system
                accomplishing a diverse set of challenging tasks
                such as taking advantage of a tray when laying out
                a table for dinner and picking objects from
                cluttered environments where other objects need to
                be re-arranged before the target object can be
                reached.},
      URL = {http://robotics.eecs.berkeley.edu/pubs/25.html}
  }
  

Posted by Ehsan Elhamifar on 9 Jun 2014.
Groups: ehumans
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