Planning with Adaptive Dimensionality for Mobile Manipulation
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2944 - 2951, May, 2012
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.
BibTeX
@conference{Gochev-2012-109556,author = {Kalin Gochev and Alla Safonova and Maxim Likhachev},
title = {Planning with Adaptive Dimensionality for Mobile Manipulation},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2012},
month = {May},
pages = {2944 - 2951},
}
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