Download or read book Incrementally Increasing the Uncertainty tolerance of Robotic Manipulation Plans written by Scott Bennett and published by . This book was released on 1991 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: Last, unguaranteed but practical plans can be generated by the incremental approach when they lie outside the scope of the guaranteed planner. To demonstrate our approach we describe an implemented system called GRASPER which learns to grasp novel objects given only imprecise television camera input. No prior model of the objects is assumed, nor are the objects required to satisfy a priori constraints on their shapes. Robustness of the system's grasping improves with experience."
Download or read book NASA SP 7500 written by United States. National Aeronautics and Space Administration and published by . This book was released on with total page 598 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Management written by and published by . This book was released on 1992 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Management a Bibliography for NASA Managers written by and published by . This book was released on 1992 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book STATE PUBLICATIONS Monthly Checklist written by and published by . This book was released on 1991 with total page 764 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Recent Advances in Robot Learning written by Judy A. Franklin and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent Advances in Robot Learning contains seven papers on robot learning written by leading researchers in the field. As the selection of papers illustrates, the field of robot learning is both active and diverse. A variety of machine learning methods, ranging from inductive logic programming to reinforcement learning, is being applied to many subproblems in robot perception and control, often with objectives as diverse as parameter calibration and concept formulation. While no unified robot learning framework has yet emerged to cover the variety of problems and approaches described in these papers and other publications, a clear set of shared issues underlies many robot learning problems. Machine learning, when applied to robotics, is situated: it is embedded into a real-world system that tightly integrates perception, decision making and execution. Since robot learning involves decision making, there is an inherent active learning issue. Robotic domains are usually complex, yet the expense of using actual robotic hardware often prohibits the collection of large amounts of training data. Most robotic systems are real-time systems. Decisions must be made within critical or practical time constraints. These characteristics present challenges and constraints to the learning system. Since these characteristics are shared by other important real-world application domains, robotics is a highly attractive area for research on machine learning. On the other hand, machine learning is also highly attractive to robotics. There is a great variety of open problems in robotics that defy a static, hand-coded solution. Recent Advances in Robot Learning is an edited volume of peer-reviewed original research comprising seven invited contributions by leading researchers. This research work has also been published as a special issue of Machine Learning (Volume 23, Numbers 2 and 3).
Download or read book Monthly Checklist of State Publications written by Library of Congress. Exchange and Gift Division and published by . This book was released on 1991 with total page 776 pages. Available in PDF, EPUB and Kindle. Book excerpt: June and Dec. issues contain listings of periodicals.
Download or read book Engineering Documents Center Index written by University of Illinois at Urbana-Champaign. Engineering Documents Center and published by . This book was released on 1991 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Government Reports Annual Index written by and published by . This book was released on 1991 with total page 1332 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1994 with total page 1496 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Summary of Engineering Research written by University of Illinois at Urbana-Champaign. Office of Engineering Publications and published by . This book was released on 1992 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Stochastic Plans for Robotic Manipulation written by Kenneth Y. Goldberg and published by . This book was released on 1990 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "Geometric uncertainty is unavoidable when programming robots for physical applications. We propose a stochastic framework for manipulation planning where plans are ranked on the basis of expected cost. That is, we express the desirability of states and actions with a cost function and describe uncertainty with probability distributions. We illustrate the approach with a new design for a programmable parts feeder: a mechanism that orients two-dimensional parts using a sequence of open-loop mechanical motions. We present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n2), generates a stochastically optimal plan for orienting the part."
Download or read book Illinois Documents List written by and published by . This book was released on 1991 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Reliably Arranging Objects written by Ariel Sharone Anders and published by . This book was released on 2019 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. In this work, we explore the conformant planning approach to reliable robot manipulation. In particular, we tackle the problem of pushing multiple planar objects simultaneously to achieve a specified arrangement without using external sensing. A conformant plan is a sequence of manipulation actions that reliably achieve a goal arrangement in spite of uncertainty in object pose and nondeterministic action outcomes, and without assuming the availability of additional observations. To find conformant plans, we explored two different approaches: Conformant planning by construction. This approach formalizes conformant planning as a belief-state planning problem. A belief state is the set of all possible states of the world, and the objective is to find a sequence of actions that will bring an initial belief state to a goal belief state. To do forward belief-state planning, we created a deterministic belief-state transition model from on-line physics-based simulations and supervised learning based on off-line physics simulations. Conformant planning through plan improvement. This approach takes a deterministic manipulation plan and augments it by adding fixtures (movable obstacles) to push parts up against. This method uses an optimization-based approach to determine the ideal fixture placement location. This thesis provides insight and develops approaches toward scalable methods for solving challenging planar manipulation problems with multiple objects or concave shape geometry. We show the success of these approaches based on planning times and robustness in real and simulated experiments.
Download or read book Publications of the State of Illinois written by and published by . This book was released on 1993 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Publications of the State of Illinois written by Illinois. Office of Secretary of State and published by . This book was released on 1992 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt:
