Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic
  Chain Perspective   We present a Virtual Kinematic Chain (VKC) perspective, a simple yet
effective method, to improve task planning efficacy for mobile manipulation. By
consolidating the kinematics of the mobile base, the arm, and the object being
manipulated collectively as a whole, this novel VKC perspective naturally
defines abstract actions and eliminates unnecessary predicates in describing
intermediate poses. As a result, these advantages simplify the design of the
planning domain and significantly reduce the search space and branching factors
in solving planning problems. In experiments, we implement a task planner using
Planning Domain Definition Language (PDDL) with VKC. Compared with conventional
domain definition, our VKC-based domain definition is more efficient in both
planning time and memory. In addition, abstract actions perform better in
producing feasible motion plans and trajectories. We further scale up the
VKC-based task planner in complex mobile manipulation tasks. Taken together,
these results demonstrate that task planning using VKC for mobile manipulation
is not only natural and effective but also introduces new capabilities.

7
The categories of this paper are: hep-th
0
The categories of this paper are: hep-ph
34
The categories of this paper are: chem-ph
35
The categories of this paper are: mtrl-th
12
The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
24
The categories of this paper are: dg-ga
14
The categories of this paper are: math-ph
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
19
The categories of this paper are: eess
10
The categories of this paper are: q-bio