Download or read book Combining Task and Motion Planning for Mobile Manipulators written by Aliakbar Akbari and published by . This book was released on 2020 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple mobile robots tasks, and even higher dimensional tasks (like bi-manual robots or mobile manipulators). Task and motion planning problems needs to obtain a geometrically feasible manipulation plan through symbolic and geometric search space. The combination of task and motion planning levels has emerged as a challenging issue as the failure leads robots to dead-end tasks due to geometric constraints. In addition, task planning is combined with physics-based motion planning and information to cope with manipulation tasks in which interactions between robots and objects are required, or also a low-cost feasible plan in terms of power is looked for. Moreover, combining task and motion planning frameworks is enriched by introducing manipulation knowledge. It facilitates the planning process and aids to provide the way of executing symbolic actions. Combining task and motion planning can be considered under uncertain information and with human-interaction. Uncertainty can be viewed in the initial state of the robot world or the result of symbolic actions. To deal with such issues, contingent-based task and motion planning is proposed using a perception system and human knowledge. Also, robots can ask human for those tasks which are difficult or infeasible for the purpose of collaboration.An implementation framework to combine different types of task and motion planning is presented. All the required modules and tools are also illustrated. As some task planning algorithms are implemented in Prolog or C++ languages and our geometric reasoner is developed in C++, the flow of information between different languages is explained.
Download or read book Task Based Global Motion Planning of Multiple Manipulators in Time varying Environments written by Achint Aggarwal and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotics is clearly seen to be heading towards a world in which humans and robots can exist together safely and coherently be it in industries, households or battlefields. The primary obstacle for this harmonistic coexistence is the inability of robots to interact effectively and safely with the environment. Human machine interaction still seems to be far off until the development of effective and reliable robots that understand their environment and interact with it safely. The application of robots in industrial environments has over the last two decades received a significant impetus, such that the robots can now perform pre-programmed and repetitive low-valued tasks almost to perfection. However, the need of the hour is to make robots go beyond this level and practically start augmenting human capability and reducing human drudgery even outside the factory floor. This makes robot motion planning one of the most important areas in robotics research. Without a motion planner for manipulators and mobile robots, human operators have to constantly monitor and define their detailed motion. An automatic motion planner will relieve the operators from this tedious job and enable them to exercise control at a supervisory level. This in turn, increases efficiency by eliminating human errors. Further, path planning can be considered to be the backbone of any motion planning algorithm. An efficient path planner with added performance criteria and constraints makes an efficient motion planner. This specific research effort of developing a motion planner falls within the broader goal of developing a safety architecture that enables high performance intelligent machines that coexist and cooperate safely with other systems and humans. A large body of research in the area of robotics focuses on the path planning of mobile robots while the manipulators' ability to effectively operate autonomously in cluttered and dynamically changing environments stays relatively under explored. This work will rely on the past achievements in collision detection, obstacle avoidance and motion planning of the Robotics Research Group (RRG) at the University of Texas at Austin (UT Austin). This area of research offers chances for a wide breadth of advancement in robotics as it can be applied to traditional stationary robots, both redundant and non-redundant manipulators, as well as to mobile manipulators where both the path of the manipulator itself and the path of the manipulator's mobile base must be accounted for when attempting to plan collision free paths.
Download or read book Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
Download or read book Motion Planning with Localization and Mapping Uncertainties for a Mobile Manipulator in Exploration and Inspection Tasks written by Yifeng Huang and published by . This book was released on 2009 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: We address the motion planning (MP) problem in real world robotic exploration and inspection tasks, where robot localization and mapping uncertainties have to be incorporated into the planned motions. The robot considered in this work is a mobile manipulator system, which combines the mobility of the base with the dexterousness of the manipulator. The first part of this work considers localization and mapping uncertainties in the motion planning problem. We propose RRT-SLAM, which uses a rapidly exploring random tree (RRT) in conjunction with a simulated particle based simultaneous localization and mapping (SLAM) algorithm to expand the tree. The simulated SLAM explicitly accounts for localization and mapping uncertainties in the planning stage. Moreover, the RRT itself is represented in the uncertainty-configuration space (UC-space), which is an augmented configuration space with an extra dimension of uncertainty. The collision probability along a planned path is explicitly calculated and is used to select a planned path. We further address the efficiency of the RRT-SLAM in the UC-space. We treat the issue from a data clustering point of view and propose a fractal dimension (FD) based checking criterion for efficient node generation,and demonstrate the positive results in simulations. The second part of this research addresses planning motions for the manipulator with the base staying stationary. Therefore, no sensor observation is available during the motion. We extend the probabilistic roadmap (PRM) algorithm to plan motions. Since the base pose of the manipulator is not precisely known due to the localization uncertainty, the path query of the roadmap becomes a constrained shortest path problem. We prove that this path query is an NP-hard problem, and propose an lazy path query algorithm that judiciously combines a k-shortest path algorithm with a labeling algorithm to achieve efficiency. The RRT-SLAM is tested on an actual PowerBot and the experimental results show the effectiveness and benefits of our integrated approach. We also implemented and tested our integrated planner for the mobile manipulator in simulations. The effectiveness of the combined integrated planner is demonstrated via these simulations.
Download or read book Automated Planning and Acting written by Malik Ghallab and published by Cambridge University Press. This book was released on 2016-08-09 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent and advanced techniques for creating autonomous AI systems capable of planning and acting effectively.
Download or read book Motion Planning for Mobile Manipulators Using the FSP full Space Parameterization Approach written by and published by . This book was released on 1996 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: The efficient utilization of the motion capabilities of mobile manipulators, i.e., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.o.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspecified system of algebraic equations. In addition, constraints such as obstacle avoidance or joint limits may appear at any time during the trajectory of the system. A method, which we named the FSP (Full Space Parameterization), has recently been developed to resolve such underspecified systems with constraints that may vary in time and in number during a single trajectory. In this paper, we review the principles of the FSP and give analytical solutions for the constrained motion case, with a general optimization criterion for resolving the redundancy. We then focus on a solution to the problem introduced by the combined use of prismatic and revolute joints (a common occurrence in practical mobile manipulators) which makes the dimensions of the joint displacement vector components non-homogeneous. Successful applications to the motion planning of several large-payload mobile manipulators with up to 11 d.o.f. are discussed. Sample trajectories involving combined motions of the platform and manipulator under the time-varying occurrence of obstacle and joint limit constraints are presented to illustrate the use and efficiency of the FSP approach in complex motion planning problems.
Download or read book RoboCup 2003 Robot Soccer World Cup VII written by Daniel Polani and published by Springer Science & Business Media. This book was released on 2004-09-02 with total page 782 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the seventh official archival publication devoted to RoboCup. It documents the achievements presented at the 7th Robot World Cup Soccer and Rescue Competition and Conferences held in Padua, Italy, in July 2003. The 39 revised full papers and 35 revised poster papers presented together with an overview and roadmap for the RoboCup initiative and 3 invited papers were carefully reviewed and selected from 125 symposium paper submissions. This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source of reference and inspiration for R&D professionals interested in robotics, distributed artificial intelligence, and multi-agent systems.
Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Download or read book Simulation Modeling and Programming for Autonomous Robots written by Davide Brugali and published by Springer. This book was released on 2014-09-19 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Download or read book Robotics Research written by Henrik I. Christensen and published by Springer. This book was released on 2016-08-25 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents a collection of papers presented at the 15th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 15th edition took place in Flagstaff, Arizona on December 9 to December 12, 2011. As for the previous symposia, ISRR 2011 followed up on the successful concept of a mixture of invited contributions and open submissions. Therefore approximately half of the 37 contributions were invited contributions from outstanding researchers selected by the IFRR officers and the program committee, and the other half were chosen among the open submissions after peer review. This selection process resulted in a truly excellent technical program which featured some of the very best of robotic research. The program was organized around oral presentation in a single-track format and included for the first time a small number of interactive presentations. The symposium contributions contained in this volume report on a variety of new robotics research results covering a broad spectrum including perception, manipulation, grasping, vehicles and design, navigation, control and integration, estimation and SLAM.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Knowledge Representations for Planning Manipulation Tasks written by Franziska Zacharias and published by Springer Science & Business Media. This book was released on 2012-01-12 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.
Download or read book Human in the loop System Design and Control Adaptation for Behavior Assistant Robots written by Yuquan Leng and published by Frontiers Media SA. This book was released on 2024-06-03 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Download or read book Informatics in Control Automation and Robotics written by Giuseppina Gini and published by Springer Nature. This book was released on 2023-11-29 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book focuses the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through ten revised and extended articles, the present book aims to provide the most up-to-date state-of-the-art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book. The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same volume a factual and well-balanced prospect of nowadays research in those topics. A special attention toward “Intelligent Robots and Control” may characterize another benefit of this book.
Download or read book Cognitive Reasoning for Compliant Robot Manipulation written by Daniel Sebastian Leidner and published by Springer. This book was released on 2018-12-08 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment
Download or read book Autonomous Agents and Multiagent Systems written by Gita Sukthankar and published by Springer. This book was released on 2017-11-24 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book compiles the most visionary papers from 10 workshops held at the International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2017, held in Sao Paulo, Brazil, in May 2017. The 15 full papers presented in this volume were carefully reviewed and selected for inclusion in this volume. They deal with novel ideas proposing a change in the way research is currently carried out.
