Ω2: Optimal Hierarchical Planner for Object Search in Large Environments via Mobile Manipulation
Yoonyoung Cho,Donghoon Shin,Beomjoon Kim,Yoonyoung Cho,Donghoon Shin,Beomjoon Kim
We propose a hierarchical planning algorithm that efficiently computes an optimal plan for finding a target object in large environments where a robot must simultaneously consider both navigation and manipulation. One key challenge that arises from large domains is the substantial increase in search space complexity that stems from considering mobile manipulation actions and the increase in number...
