By Dov Katz Jacqueline Kenney Oliver Brock  |  Robotics and Biology Lab

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Abstract: Roboticists are working towards the realization of autonomous mobile manipulators that can perform useful tasks in human environments. These environments pose a significant challenge because of their complexity and inherent uncertainty. They are characterized by having a high dimensional state space. Consequently, performing tasks in these unstructured environments remains a challenge.

Recently, researchers have been successful in developing skills that can handle the complexity of unstructured environments. We hypothesize that those successes are due to a careful implementation that is able to reduce the complexity of the state space, and render the respective problems tractable. In this paper, we analyze this increasing body of literature, in an attempt to extract the common ideas that enable the reduction of the state space. Based on these commonalities, we propose a set of guidelines to facilitate progress for autonomous mobile manipulation in unstructured environments.