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Collision-free navigation in cluttered environments is essential for any mobile manipulation system. Traditional navigation systems have relied on a 2D grid map projected from a 3D representation for efficiency. This approach, however, prevents navigation close to objects in situations where projected 3D configurations are in collision within the 2D grid map even if actually no collision occurs in...
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...
In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical symbolic regression (pre-image back-chaining). We develop a vocabulary of fluents that describe sets of belief states,...
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