Generating and Executing Hierarchical Mobile Manipulation Plans
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Stock, Sebastian; Guenther, Martin (Osnabrueck University, Germany)
Hertzberg, Joachim (Osnabrueck University and DFKI-RIC Osnabrueck Branch, Germany)
Abstract:
To execute complex tasks with a mobile robot in challenging environments, task planning and execution monitoring play a decisive role. This paper presents the integration of an off-the-shelf HTN planner into a robotic system which is aimed at enabling a service robot to learn from experiences. For plan execution, a state-machine-based approach is employed. The system has successfully been demonstrated on a PR2 robot in a restaurant scenario.