Combined Task and Motion Planning for Mobile Manipulation

• Authors: Jason Wolfe, Bhaskara Marthi, Stuart Russell
• Forum: International Conference on Automated Planning and Scheduling (ICAPS) 2010

Citation

@inproceedings {Wolfe2010,
        title = {Combined Task and Motion Planning for Mobile Manipulation},
        booktitle = {International Conference on Automated Planning and Scheduling},
        year = {2010},
        author = {Jason Wolfe and Bhaskara Marthi and Stuart Russell}
}

Full Text

conference_version.pdf

technical_report.pdf

Photos and Video Results

An example 4-object task (table setup differs from experiments in the paper), showing bottles, goal regions, and PR2 (at right).

Video of PR2 solving this task:

Code

Code containing the search algorithms described in the paper, as well as infrastructure to reproduce the taxi domain results reported therein, is available here: taxi-code.tgz. Code for the pick-and-place domain will be released in the future, once it has been updated to run on recent builds of ROS. In the mean time, an earlier version of this code can be found at hierarchical_planning.