Robot Manipulation Planning Under Linear Temporal Logic Specifications

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dc.contributor.advisorKavraki, Lydia E
dc.contributor.committeeMemberVardi, Moshe Y
dc.contributor.committeeMemberChaudhuri, Swarat
dc.creatorHe, Keliang
dc.date.accessioned2016-01-22T17:34:58Z
dc.date.available2016-01-22T17:34:58Z
dc.date.created2016-05
dc.date.issued2015-12-07
dc.date.submittedMay 2016
dc.date.updated2016-01-22T17:34:59Z
dc.description.abstractAutomated 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.mimetypeapplication/pdf
dc.identifier.citationHe, Keliang. "Robot Manipulation Planning Under Linear Temporal Logic Specifications." (2015) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/88079">https://hdl.handle.net/1911/88079</a>.
dc.identifier.urihttps://hdl.handle.net/1911/88079
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectRobot Manipulation
dc.subjectIntegrated Task and Motion Planning
dc.titleRobot Manipulation Planning Under Linear Temporal Logic Specifications
dc.typeThesis
dc.type.materialText
thesis.degree.departmentComputer Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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