Carnegie Mellon University
The
A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments

Siddhartha Srinivasa, Aaron M. Johnson , Gilwoo Lee, Michael Koval, Shushman Choudhury, Jennifer King, Christopher Dellin, Matthew Harding, David Butterworth, Prasanna Velagapudi, and Allison Thackston
2016 International Symposium on Experimental Robotics, October, 2016.


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Abstract
Household manipulation presents a challenge to robots be- cause it requires perceiving a variety of objects, planning multi-step motions, and recovering from failure. This paper presents practical techniques that improve performance in these areas by considering the complete system in the context of this specific domain. We validate these techniques on a table-clearing task that involves loading objects into a tray and transporting it. The results show that these techniques improve success rate and task completion time by incorporating expected real-world performance into the system design.

Keywords
Task and Motion Planning, Mobile Manipulation

Notes
Sponsor: Toyota Motor Corporation
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics
Number of pages: 12

Text Reference
Siddhartha Srinivasa, Aaron M. Johnson , Gilwoo Lee, Michael Koval, Shushman Choudhury, Jennifer King, Christopher Dellin, Matthew Harding, David Butterworth, Prasanna Velagapudi, and Allison Thackston, "A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments," 2016 International Symposium on Experimental Robotics, October, 2016.

BibTeX Reference
@inproceedings{Srinivasa_2016_8199,
   author = "Siddhartha Srinivasa and Aaron M {Johnson } and Gilwoo Lee and Michael Koval and Shushman Choudhury and Jennifer King and Christopher Dellin and Matthew Harding and David Butterworth and Prasanna Velagapudi and Allison Thackston",
   editor = "Dana Kulic, Oussama Khatib, Yoshihiko Nakamura",
   title = "A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments",
   booktitle = "2016 International Symposium on Experimental Robotics",
   publisher = "Springer",
   address = "233 Spring Street, New York, NY 10013-1578 USA",
   month = "October",
   year = "2016",
}