PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Probabilistic inference for structured planning in robotics
Marc Toussaint and Christian Goerick
In: Int Conf on Intelligent Robots and Systems (IROS 2007), Nov 2007, San Diego.

Abstract

Real-world robotic environments are highly structured. The scalability of planning and reasoning methods to cope with complex problems in such environments crucially depends on exploiting this structure. We propose a new approach to planning in robotics based on probabilistic inference. The method uses structured Dynamic Bayesian Networks to represent the scenario and efficient inference techniques (loopy belief propagation) to solve planning problems. In principle, any kind of factored or hierarchical state representations can be accounted for. We demonstrate the approach on reaching tasks under collision avoidance constraints with a humanoid upper body.

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EPrint Type:Conference or Workshop Item (Talk)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Haptics
ID Code:3867
Deposited By:Marc Toussaint
Deposited On:25 February 2008