Journal ArticleDOI
Using backprojections for fine motion planning with uncertainty
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TLDR
The relationship of backprojections to goal recognizability is discussed within the formal framework of preimages and suggests a partitioning of desired goal states into recognizable goal states.Abstract:
This paper outlines a method for planning motions in the presence of uncertainty. Tasks are modeled as geometrical goals in configuration space. The planning process consists of determining regions from which particular motions are guar anteed to reach a desired goal successfully. An algorithm is presented for backprojecting from desired goal states. The backprojection regions are computed by erecting constraints that geometrically capture the uncertainty in motion. The relationship of backprojections to goal recognizability is discussed within the formal framework of preimages. This relationship suggests a partitioning of desired goal states into recognizable goal states. Backprojections are actually per formed from this partitioning.read more
Citations
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Journal ArticleDOI
An exploration of sensorless manipulation
TL;DR: An automatic planner is described that constructs a tilting program, using a simple model of the mechanics of sliding, and it is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.
Journal ArticleDOI
Integrated task and motion planning in belief space
TL;DR: It is shown that a relatively small set of symbolic operators can give rise to task-oriented perception in support of the manipulation goals and form a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning process.
Proceedings ArticleDOI
Global path planning using artificial potential fields
TL;DR: By considering the entire path, the problem of being trapped in a local minimum is greatly reduced, allowing the method to be used for global planning, and was tried with success on many different realistic planning problems.
Journal ArticleDOI
Automatic grasp planning in the presence of uncertainty
TL;DR: An algorithm for automatic planning of robot grasping motions that are insensitive to bounded uncer tainties in the object's location is presented and it is shown that simple squeeze- grasp operations are not sufficient for grasping all possible objects, and offset-grasp and push- Grasp Operations are added to increase the scope of the planner.
Proceedings ArticleDOI
Coastal navigation-mobile robot navigation with uncertainty in dynamic environments
TL;DR: A technique for generating trajectories that take into account both the information content of the environment, and the density of the people in the environment to reduce the average positional certainty as the robot moves, reducing the likelihood the robot will become lost at any point.
References
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Book
Mathematical Methods of Classical Mechanics
TL;DR: In this paper, Newtonian mechanics: experimental facts investigation of the equations of motion, variational principles Lagrangian mechanics on manifolds oscillations rigid bodies, differential forms symplectic manifolds canonical formalism introduction to pertubation theory.
Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Mathematical methods of classical mechanics
TL;DR: In this paper, Newtonian mechanics: experimental facts investigation of the equations of motion, variational principles Lagrangian mechanics on manifolds oscillations rigid bodies, differential forms symplectic manifolds canonical formalism introduction to pertubation theory.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Book
Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.