Manipulation Planning with Probabilistic Roadmaps
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Citations
276 citations
Cites background or methods from "Manipulation Planning with Probabil..."
...On the other hand, practical motion planning techniques (LaValle 2006), and more precisely manipulation planners (Alami et al. 1990 Siméon et al. 2003), have experienced very important progress....
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...We follow and extend the definitions presented by Siméon et al. (2003) to the case of several robots and several objects....
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...A demonstration was given by Siméon et al. (2003)....
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...To do so, we rely on the definitions used by Ghallab et al. (2004) and on the configuration space definitions (Lozano-Pérez 1983) that have been extended by Alami et al. (1990) and Siméon et al. (2003) to take manipulation problems into account....
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...The reader can refer to Alami et al. (1995) and Siméon et al. (2003) for a detailed discussion on manipulation problems in the presence of continuous grasps and placements....
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264 citations
Cites background from "Manipulation Planning with Probabil..."
...Extensions of RRTs for manipulation problems and motions of closed articulated chains are developed in [8], [17], [18], [ 33 ]....
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247 citations
Cites background from "Manipulation Planning with Probabil..."
...We overload Volume to accept trajectories of regions too; e.g. Volume(o, ν) gives the volume of space swept by the uncertainty of the object during its manipulation....
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238 citations
229 citations
Cites background from "Manipulation Planning with Probabil..."
...Manipulation planning requires finding feasible sequences of grasping positions, each of which is a partial constraint on the robot configuration that changes its kinematics [198]....
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References
6,186 citations
"Manipulation Planning with Probabil..." refers methods in this paper
...Manipulation Planning with Probabilistic Roadmaps Thierry Simeon, Jean-Paul Laumond, Juan Cortés, Anis Sahbani...
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...HAL Id: hal-01987879 https://hal.laas.fr/hal-01987879...
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3,102 citations
1,097 citations
"Manipulation Planning with Probabil..." refers methods in this paper
...Manipulation Planning with Probabilistic Roadmaps Thierry Simeon, Jean-Paul Laumond, Juan Cortés, Anis Sahbani...
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513 citations
"Manipulation Planning with Probabil..." refers background in this paper
...In Lynch and Mason (1994), grasping is replaced by pushing and the space of stable pushing directions imposes...
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441 citations
"Manipulation Planning with Probabil..." refers background or methods in this paper
...In particular, applying a purely randomized PRM framework ( Kavraki and Latombe 1994; Overmars and Svestka 1994) to closed-chain mechanisms is prohibited by the fact that the probability to choose a configuration at random on a given sub-dimensional manifold is null (LaValle, Yakey, and Kavraki 1999)....
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...Finally, Nielsen and Kavraki (2000) propose a practical manipulation planner based on the extension of the PRM framework ( Kavraki and Latombe 1994; Overmars and Svestka 1994)....
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...The manipulation graph is computed as in Nielsen and Kavraki (2000) using a probabilistic technique ( Kavraki and Latombe 1994; Overmars and Svestka 1994), but our construction of the manipulation roadmap integrates a specific step allowing us to directly capture the connectivity of the submanifold CG ∩ CP inside the roadmap....
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