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Integrating Symbolic and Geometric Planning for Mobile Manipulation

By Christian Dornhege, Marc Gissler, Matthias Teschner and Bernhard Nebel


Abstract — Mobile manipulation requires to solve multiple subproblems. One is planning in high-dimensional configuration spaces, that we approach in this work. We decompose the manipulation problem into a symbolic and a geometric part. The symbolic part is implemented as a classical symbolic planner that tightly integrates a geometric planner enabling us to efficiently generate correct plans. A probabilistic roadmap planner constitutes the geometric part. During the computation of the roadmap we utilize proximity queries to determine non-colliding configurations and to verify collisionfree paths between configurations accurately and efficiently. We demonstrate experiments in two scenarios, one of these being the manipulator dexterity test scenario that was used in NIST’s response robot evaluation in Disaster City

Topics: mobile manipulation, symbolic planning, manipulation
Year: 2011
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