Hierarchical Task and Motion Planning in the Now

摘要：

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.

作者: Leslie Pack Kaelbling Tom(a)s Lozano-P(e)rez

作者单位: CSAIL,MIT,Cambridge,MA 02139

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1470-1477

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）