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We present a Virtual Kinematic Chain (VKC) perspective, a simple yeteffective method, to improve task planning efficacy for mobile manipulation. Byconsolidating the kinematics of the mobile base, the arm, and the object beingmanipulated collectively as a whole, this novel VKC perspective naturallydefines abstract actions and eliminates unnecessary predicates in describingintermediate poses. As a result, these advantages simplify the design of theplanning domain and significantly reduce the search space and branching factorsin solving planning problems. In experiments, we implement a task planner usingPlanning Domain Definition Language (PDDL) with VKC. Compared with conventionaldomain definition, our VKC-based domain definition is more efficient in bothplanning time and memory. In addition, abstract actions perform better inproducing feasible motion plans and trajectories. We further scale up theVKC-based task planner in complex mobile manipulation tasks. Taken together,these results demonstrate that task planning using VKC for mobile manipulationis not only natural and effective but also introduces new capabilities.

Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective