NDLI: Combined task and motion planning through an extensible planner-independent interface layer

Content Provider	IEEE Xplore Digital Library
Author	Srivastava, S. Fang, E. Riano, L. Chitnis, R. Russell, S. Abbeel, P.
Copyright Year	2014
Description	Author affiliation: Comput. Sci. Div., Univ. of California, Berkeley, Berkeley, CA, USA (Srivastava, S.; Fang, E.; Riano, L.; Chitnis, R.; Russell, S.; Abbeel, P.)
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.
Starting Page	639
Ending Page	646
File Size	3595711
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906922
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Grippers Trajectory Robots Grasping Generators Indexes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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