Integration of 3D Object Recognition and Planning for Robotic Manipulation: A Preliminary Report
This addresses the problem of efficient robotic manipulation for tasks like those in RoboCup@Work, but it is incremental as it builds on existing methods in a specific domain.
The paper tackled the integration of 3D object recognition and planning for robotic manipulation in a tabletop domain, finding that close integration improves plan quality and reduces computation times for feasible plans.
We investigate different approaches to integrating object recognition and planning in a tabletop manipulation domain with the set of objects used in the 2012 RoboCup@Work competition. Results of our preliminary experiments show that, with some approaches, close integration of perception and planning improves the quality of plans, as well as the computation times of feasible plans.