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	Memory-Based Hierarchical Task and Motion Planning
	Yi Zeng; Jun Zhang; Weiwei Lu; Ying Hu; Jianwei Zhang
	2012
会议名称	2012 IEEE International Conference on Information and Automation
会议地点	中国
英文摘要	It has been shown in recent robot planning control research that planning with simplified domain models is efficient and can be robust by detecting execution failures and replanning online. In this work, we alter the traditional HTN planning by interleaving with execution and extend it with a geometric planner for mobile manipulation tasks. We also build a memory- base which is comprised of several sub-memories. It can memory and manage mass patter-specific records, and supply data with the most efficient patter to the planner and various actuators. At the last, we present preliminary results on a mobile robot with manipulator and shows some advantage of IPAE when robot encounter uncertainty and need replanning, compared with the traditional HTN method.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3845]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Yi Zeng,Jun Zhang,Weiwei Lu,et al. Memory-Based Hierarchical Task and Motion Planning[C]. 见:2012 IEEE International Conference on Information and Automation. 中国.

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