{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:06:26Z","timestamp":1777716386586,"version":"3.51.4"},"reference-count":70,"publisher":"SAGE Publications","issue":"9-10","license":[{"start":{"date-parts":[[2013,7,15]],"date-time":"2013-07-15T00:00:00Z","timestamp":1373846400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,8]]},"abstract":"<jats:p>We describe an integrated strategy for planning, perception, state estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning process. We show that a relatively small set of symbolic operators can give rise to task-oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a real PR2 robot, showing robust, flexible solution of mobile manipulation problems with multiple objects and substantial uncertainty.<\/jats:p>","DOI":"10.1177\/0278364913484072","type":"journal-article","created":{"date-parts":[[2013,7,15]],"date-time":"2013-07-15T20:32:36Z","timestamp":1373920356000},"page":"1194-1227","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":216,"title":["Integrated task and motion planning in belief space"],"prefix":"10.1177","volume":"32","author":[{"given":"Leslie Pack","family":"Kaelbling","sequence":"first","affiliation":[{"name":"CSAIL, MIT, Cambridge, MA, USA"}]},{"given":"Tom\u00e1s","family":"Lozano-P\u00e9rez","sequence":"additional","affiliation":[{"name":"CSAIL, MIT, Cambridge, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2013,7,15]]},"reference":[{"key":"bibr1-0278364913484072","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.030"},{"key":"bibr2-0278364913484072","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Barry JL","year":"2011"},{"key":"bibr3-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022140919877"},{"key":"bibr4-0278364913484072","first-page":"473","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Bertoli P","year":"2001"},{"key":"bibr5-0278364913484072","volume-title":"Neuro-Dynamic Programming","author":"Bertsekas DP","year":"1996"},{"key":"bibr6-0278364913484072","first-page":"319","volume-title":"European Conference on Planning","author":"Blum A","year":"1999"},{"key":"bibr7-0278364913484072","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)","author":"Bonet B","year":"2011"},{"key":"bibr8-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1145\/265910.265912"},{"key":"bibr9-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1869"},{"key":"bibr10-0278364913484072","first-page":"28","author":"Cambon S","year":"2009","journal-title":"International Journal of Robotics Research"},{"key":"bibr11-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1996.571080"},{"key":"bibr12-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9306-z"},{"key":"bibr13-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(88)90056-2"},{"key":"bibr14-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2009.5424160"},{"key":"bibr15-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509278"},{"key":"bibr16-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"key":"bibr17-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300306"},{"key":"bibr18-0278364913484072","volume-title":"Proceedings of the Conference on Uncertainty in Artificial Intelligence","author":"Erez T","year":"2010"},{"key":"bibr19-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-45087-0_38"},{"key":"bibr20-0278364913484072","volume-title":"Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)","author":"Fritz C","year":"2009"},{"key":"bibr21-0278364913484072","volume-title":"Proceedings of the Conference on Uncertainty in Artificial Intelligence","author":"Fritz C","year":"2009"},{"key":"bibr22-0278364913484072","first-page":"1537","author":"Gelly S","year":"2008","journal-title":"Proceedings of the Association for the Advancement of Artificial Intelligence"},{"key":"bibr23-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1016\/B978-155860856-6\/50004-1"},{"key":"bibr24-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-17452-0_12"},{"key":"bibr25-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364201"},{"key":"bibr26-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.823141"},{"key":"bibr27-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980391"},{"key":"bibr28-0278364913484072","doi-asserted-by":"publisher","DOI":"10.21236\/ADA564092"},{"key":"bibr29-0278364913484072","doi-asserted-by":"publisher","DOI":"10.21236\/ADA564092"},{"key":"bibr30-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"bibr31-0278364913484072","volume-title":"Sixth International Planning Competition at ICAPS08","author":"Keyder E","year":"2008"},{"key":"bibr32-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"bibr33-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910386986"},{"key":"bibr34-0278364913484072","author":"Kurniawati H","year":"2008","journal-title":"Robotics Science and Systems"},{"key":"bibr35-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"bibr36-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"bibr37-0278364913484072","author":"Levihn M","year":"2012","journal-title":"Proceedings of the Workshp on the Algorithmic Foundations of Robotics (WAFR)"},{"key":"bibr38-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"bibr39-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300101"},{"key":"bibr40-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"bibr41-0278364913484072","volume-title":"Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)","author":"Marthi B","year":"2010"},{"key":"bibr42-0278364913484072","series-title":"Synthesis Lectures on Artificial Intelligence and Machine Learning","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-031-01559-5","volume-title":"Planning with Markov Decision Processes","author":"Mausam","year":"2012"},{"key":"bibr43-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/9.57020"},{"key":"bibr44-0278364913484072","first-page":"463","volume-title":"Machine Intelligence 4","author":"McCarthy J","year":"1969"},{"key":"bibr45-0278364913484072","volume-title":"Formal Theories of the Commonsense World","author":"Moore RC","year":"1985"},{"key":"bibr46-0278364913484072","first-page":"867","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Morgenstern L","year":"1987"},{"key":"bibr47-0278364913484072","volume-title":"Triangle Tables: A Proposal for a Robot Programming Language","author":"Nilsson NJ","year":"1985"},{"key":"bibr48-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369861"},{"key":"bibr49-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651006"},{"key":"bibr50-0278364913484072","volume-title":"International Conference on Automated Planning and Scheduling","author":"Petrick RPA","year":"2004"},{"key":"bibr51-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509563"},{"key":"bibr52-0278364913484072","author":"Platt R","year":"2010","journal-title":"Robotics: Science and Systems"},{"key":"bibr53-0278364913484072","volume-title":"International Symposium on Robotics Research","author":"Prentice S","year":"2007"},{"key":"bibr54-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2162271"},{"key":"bibr55-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354396"},{"key":"bibr56-0278364913484072","author":"Sanner S","year":"2010","journal-title":"Proceedings of the Association for the Advancement of Artificial Intelligence"},{"key":"bibr57-0278364913484072","first-page":"1080","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Simmons R","year":"1995"},{"key":"bibr58-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1287\/opre.21.5.1071"},{"key":"bibr59-0278364913484072","volume-title":"International Conference on Informatics in Control, Automation and Robotics","author":"Souza A","year":"2008"},{"key":"bibr60-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9160-9"},{"key":"bibr61-0278364913484072","volume-title":"Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR)","author":"Stilman M","year":"2006"},{"key":"bibr62-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1017\/S1471068405002358"},{"key":"bibr63-0278364913484072","volume-title":"Probabilistic Robotics","author":"Thrun S","year":"2005"},{"issue":"4","key":"bibr64-0278364913484072","first-page":"1","volume":"2","author":"Tuan LC","year":"2006","journal-title":"Logical Methods in Computer Science"},{"key":"bibr65-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406562"},{"key":"bibr66-0278364913484072","author":"Wang C","year":"2010","journal-title":"Proceedings of the Association for the Advancement of Artificial Intelligence"},{"key":"bibr67-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630966"},{"key":"bibr68-0278364913484072","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225309"},{"key":"bibr69-0278364913484072","volume-title":"ICRA Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation","author":"Wurm KM","year":"2010"},{"key":"bibr70-0278364913484072","volume-title":"International Conference on Automated Planning and Scheduling","author":"Yoon SW","year":"2007"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913484072","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913484072","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:13Z","timestamp":1777457893000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364913484072"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,7,15]]},"references-count":70,"journal-issue":{"issue":"9-10","published-print":{"date-parts":[[2013,8]]}},"alternative-id":["10.1177\/0278364913484072"],"URL":"https:\/\/doi.org\/10.1177\/0278364913484072","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,7,15]]}}}