This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. A Bayesian approach to the problem of autonomous manipulation in the presence of state uncertainty is described.
Uncertainty is modeled with a probability distribution on the state space.
An attempt is made to find a plan for optimizing expected performance. The Bayesian framework is applied to a grasping problem. Although many different performance measures are possible depending on the application, the approach is illustrated by searching for plans that optimize the robot's expected throughput. For updates and comments, please see these instructions .