IEEE - Institute of Electrical and Electronics Engineers, Inc. - Hierarchical planning architectures for mobile manipulation tasks in indoor environments

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Knepper, R.A. ; Srinivasa, S.S. ; Mason, M.T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 1,985 - 1,990
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509669
Regular:

This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides rough guidance to a local... View More

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