Willow Garage

About: Willow Garage is a based out in . It is known for research contribution in the topics: Robot & Mobile robot. The organization has 76 authors who have published 191 publications receiving 28617 citations.

Compact signatures for high-speed interest point description and matching

Abstract: Prominent feature point descriptors such as SIFT and SURF allow reliable real-time matching but at a computational cost that limits the number of points that can be handled on PCs, and even more on less powerful mobile devices. A recently proposed technique that relies on statistical classification to compute signatures has the potential to be much faster but at the cost of using very large amounts of memory, which makes it impractical for implementation on low-memory devices. In this paper, we show that we can exploit the sparseness of these signatures to compact them, speed up the computation, and drastically reduce memory usage. We base our approach on Compressive Sensing theory. We also highlight its effectiveness by incorporating it into two very different SLAM packages and demonstrating substantial performance increases.

Anytime solution optimization for sampling-based motion planning

Abstract: Recent work in sampling-based motion planning has yielded several different approaches for computing good quality paths in high degree of freedom systems: path shortcutting methods that attempt to shorten a single solution path by connecting non-consecutive configurations, a path hybridization technique that combines portions of two or more solutions to form a shorter path, and asymptotically optimal algorithms that converge to the shortest path over time. This paper presents an extensible meta-algorithm that incorporates a traditional sampling-based planning algorithm with offline path shortening techniques to form an anytime algorithm which exhibits competitive solution lengths to the best known methods and optimizers. A series of experiments involving rigid motion and complex manipulation are performed as well as a comparison with asymptotically optimal methods which show the efficacy of the proposed scheme, particularly in high-dimensional spaces.

Manipulation with Multiple Action Types

Abstract: We present DARRT, a sampling-based algorithm for planning with multiple types of manipulation. Given a robot, a set of movable objects, and a set of actions for manipulating the objects, DARRT returns a sequence of manipulation actions that move the robot and objects from an initial configuration to a final configuration. The manipulation actions may be non-prehensile,meaning that the object is not rigidly attached to the robot, such as push, tilt, or pull. We describe a simple extension to the RRT algorithm to search the combined space of robot and objects and present an implementation of DARRT on the Willow Garage PR2 robot.

In-body experiences: embodiment, control, and trust in robot-mediated communication

Abstract: Communication technologies are becoming increasingly diverse in form and functionality, making it important to identify which aspects of these technologies actually improve geographically distributed communication. Our study examines two potentially important aspects of communication technologies which appear in robot-mediated communication - physical embodiment and control of this embodiment. We studied the impact of physical embodiment and control upon interpersonal trust in a controlled laboratory experiment using three different videoconferencing settings: (1) a handheld tablet controlled by a local user, (2) an embodied system controlled by a local user, and (3) an embodied system controlled by a remote user (n = 29 dyads). We found that physical embodiment and control by the local user increased the amount of trust built between partners. These results suggest that both physical embodiment and control of the system influence interpersonal trust in mediated communication and have implications for future system designs.