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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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Josie Giles
RIM Communications Officer
josie@gatech.edu
Summary Sentence: Lozano-Perez of MIT presents "Integrated Task and Motion Planning in Belief Space" as part of the RIM Seminar Series.
Full Summary: Unless otherwise noted, all seminars are held in room 1116 in the Marcus Nanotechnology Building from 12-1 p.m. Seminars are open to the public. Tomás Lozano-Pérez, School of Engineering Professor of Teaching Excellence at MIT, presents "Integrated Task and Motion Planning in Belief Space" as part of the RIM Seminar Series.
Tomás Lozano-PérezUnless otherwise noted, all seminars are held in room 1116 in the Marcus Nanotechnology Building from 12-1 p.m. Seminars are open to the public.
Tomás Lozano-Pérez, School of Engineering Professor of Teaching Excellence at MIT, presents "Integrated Task and Motion Planning in Belief Space" as part of the RIM Seminar Series.
Abstract
This talk describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states, using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning process. We show that a relatively small set of symbolic operators can give rise to task-oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a real PR2 robot, showing robust, flexible solution of mobile manipulation problems with multiple objects and substantial uncertainty.
