Probabilistic Analysis of Manipulation Tasks: A Conceptual Framework

  title={Probabilistic Analysis of Manipulation Tasks: A Conceptual Framework},
  author={Randy C. Brost and Alan D. Christiansen},
  journal={I. J. Robotics Res.},
This article addresses the problem of manipulation planning in the presence of uncertainty. We begin by reviewing the worst-case planning techniques introduced by Lozano-Pérez et al. (1984) and show that these methods are limited by an information gap inherent to worst-case analysis techniques. As the task uncertainty increases, these methods fail to produce useful information, even though a high-quality plan may exist. To fill this gap, we present the notion of a probabilistic… CONTINUE READING
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