Specifying and achieving goals in open uncertain robot-manipulation domains
Robotics
2021-12-22 v1
Abstract
This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their properties, general-purpose planning and reasoning tools are used to derive appropriate actions for a robot. These goals are carried out through an online combination of hierarchical planning, state-estimation, and execution that operates robustly in real robot domains with substantial occlusion and sensing error.
Keywords
Cite
@article{arxiv.2112.11199,
title = {Specifying and achieving goals in open uncertain robot-manipulation domains},
author = {Leslie Pack Kaelbling and Alex LaGrassa and Tomás Lozano-Pérez},
journal= {arXiv preprint arXiv:2112.11199},
year = {2021}
}
Comments
Paper completed in 2019