Planning Perception and Action for Cognitive Mobile Manipulators

Andre Gaschler, Svetlana Nogina, Ronald P. A. Petrick, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our "knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the effectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.
Original languageEnglish
Title of host publicationProceedings of SPIE Volume 9025 -- Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques
Number of pages7
Publication statusPublished - 1 Feb 2014


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