Publications:Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation

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Title	Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation
Author
Year	2009
PublicationType	Conference Paper
Journal
HostPublication	Proceedings of the HYCAS 2009 workshop : 1st International Workshop on Hybrid Control of Autonomous Systems: Integrating Learning, Deliberation and Reactive Control
Conference	21st International Joint Conference on Artificial Intelligence (IJCAI-09): 1st International Workshop on Hybrid Control of Autonomous Systems - Integrating Learning, Deliberation and Reactive Control (HYCAS 2009) Pasadena, California, USA, July 13 2009
DOI
Diva url	http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:577010
Abstract	We present our ongoing efforts to create a mobile manipulation database tool, a flexible multi-modal representation supporting persistent life-long adaptation for autonomous service robots in every-day environments. Its application to a prototypical domain illustrates how it provides symbol grounding to a reasoning system capable of learning new concepts, couples semantic planning with whole-body prioritized control, and supports exploration of uncertain and dynamic environments.