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Combined Task and Motion Planningfor Mobile Manipulation
Jason Wolfe, etc.University of California,
Berkeley
Mozi SongINFOTECH
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Introduction:1. Pick-and-Place problem
•Abstract actions•Primitive actions
Action Hierarchy
Action levels
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Introduction: 2. Tasks
•Sequence operations•Decide on details•Optimize
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Introduction:3. Challenges
• Geometric constraints• Real-time limits
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Domain and Hierarchy1. Initial state
• Robot configuration• Object geometry, position,
relation with other objects
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Domain and Hierarchy2. Transition model
*external planners instead of PDDL—dealing with uncertainty
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Domain and Hierarchy3. Action hierarchy
• High-level-actions(HLA)• Immediate refinements
of each HLA
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Domain and Hierarchy3. Action hierarchy
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Domain and Hierarchy3. Action hierarchy
• Infinite refinements of an HLA:
random sampled sequence
• Hierarchically optimal result
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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SATHN Algorithm
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SATHN Algorithm
subtask-specific irrelevance
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Results
• Feasibility• Efficiency
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Layout
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Conclusion
• Action hierarchy• State abstraction• A proof-of-concept of task-level planning
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Conclusion-Future work
• Approximate models for the HLAs and primitives
• Search algorithms managing cost-quality tradeoff
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Q & A
• Problem introduction• Domain and Hierarchy• SATHN algorithm• Results• Conclusion
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Thank you
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