Towards harmonization and refactoring of mobile manipulation algorithms

In this paper we present work towards the benchmarking of mobile manipulation algorithms. We review the current state-of-the art in mobile manipulation and analyze the most prominent algorithms concerning common structures and sub-components. We propose and implement harmonized interfaces for those components, building upon existing software frameworks and libraries. The foundation on the same subcomponents makes it possible to evaluate mobile manipulation planning algorithms in a systematic way. In particular it enables us to investigate on the influence of different combinations of sub-components for the overall planning task, for which we present experiments in simulation.