A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments
An ISER 2016 conference paper on mobile manipulation, system architecture, planning, perception, and failure recovery for household robotics.
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Mar 21, 2017
Conference paper from the 2016 International Symposium on Experimental Robotics.
This paper presented a complete system for household mobile manipulation, focused on the practical challenges of perceiving objects, planning multi-step motions, and recovering from failure.
The work was validated on a table-clearing task where the robot loaded objects into a tray and transported it. The results showed improved success rate and task completion time by designing the system around expected real-world performance.
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