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. |
