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dc.contributor.advisor Kavraki, Lydia E
dc.creatorHe, Keliang
dc.date.accessioned 2016-01-22T17:34:58Z
dc.date.available 2016-01-22T17:34:58Z
dc.date.created 2016-05
dc.date.issued 2015-12-07
dc.date.submitted May 2016
dc.identifier.citation He, Keliang. "Robot Manipulation Planning Under Linear Temporal Logic Specifications." (2015) Master’s Thesis, Rice University. https://hdl.handle.net/1911/88079.
dc.identifier.urihttps://hdl.handle.net/1911/88079
dc.description.abstract Automated planning for manipulation tasks is highly desirable, for it enables robot manipulators to be used by none robotics experts. This thesis presents one approach to solving manipulation planning for tasks expressed in linear temporal logic (ltl). This approach is based on the synergistic framework, which provides probabilistic completeness guarantees. Even though the synergistic framework has shown to work well for planning for ltl tasks in the navigation domain, it lacked an abstraction that can capture the high dimensionality of manipulation. This thesis enables manipulation planning using the synergistic framework by introducing a manipulation abstraction and modifying the interaction between task and motion planning in the framework. The modified framework is shown to be effectively in case studies in both simulation and physical systems. The case studies also show that the synergistic framework plans for manipulation problems more effective using the manipulation abstraction in comparison with a naive abstraction.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectRobot Manipulation
Integrated Task and Motion Planning
dc.title Robot Manipulation Planning Under Linear Temporal Logic Specifications
dc.contributor.committeeMember Vardi, Moshe Y
dc.contributor.committeeMember Chaudhuri, Swarat
dc.date.updated 2016-01-22T17:34:59Z
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Computer Science
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science


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