Download or read book Safe Motion Planning Under Uncertainty for Mobile Manipulators in Unknown Environments written by Vinay Kumar Pilania and published by . This book was released on 2015 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a mobile manipulator to operate and perform useful tasks in human-centered environments, it is important to work toward the realization of robust motion planners that incorporate uncertainty inherent in robot's control and sensing and provide safe motion plans for reliable robot operation. Designing such planners pose a significant challenge because of computational complexity associated with mobile manipulator planning and planning under uncertainty. Current planning approaches for mobile manipulation are often conservative in nature and the uncertainty is largely ignored. In this thesis, we propose sampling-based efficient and robust mobile manipulator planners that use smart strategies to deal with computational complexity and incorporate uncertainty to generate safer plans. The first part of the research addresses the design of an efficient planner for deterministic case, where robot state is fully known, and then subsequent extension to incorporate base pose uncertainty. In the first part, we propose a Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans both for the base and the arm in a judicious manner - allowing the manipulator to change its configuration autonomously when needed if the current arm configuration is in collision with the environment as the mobile manipulator moves along the planned path. We show that HAMP is probabilistically complete. We then propose an extension of HAMP (HAMP-U) to account for localization uncertainty associated with the mobile base position. The advantages of our planners are illustrated and discussed. The second part of the research deals with the computational complexity involved in planning under uncertainty. For that, we propose localization aware sampling and connection strategies that help to reduce the planning time significantly with little compromise on the quality of path. In the third part, we learnt from the shortcomings of HAMP-U and took advantage of our smart strategies developed to combat the computational complexity. We propose an efficient and robust mobile manipulator planner (HAMP-BAU) that plans judiciously and considers the base pose uncertainty and the effects of this uncertainty on manipulator motions. It uses our localization aware sampling and connection strategies to consider only those nodes and edges which contribute toward better localization. This helps to find the same quality of path in shorter time. We also extend HAMP-BAU to incorporate task space constraints (HAMP-BAU-TC). Finally, in the last part of the work, we incorporate our planners (HAMP-BAU and HAMP-BAU-TC) within an integrated and fully autonomous system for mobile pick-and-place tasks in unknown static environments. We demonstrate our system both in simulation and real experiments on SFU mobile manipulator.
Download or read book Proceedings of the 2018 International Symposium on Experimental Robotics written by Jing Xiao and published by Springer Nature. This book was released on 2020-01-22 with total page 804 pages. Available in PDF, EPUB and Kindle. Book excerpt: In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human–robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.
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 0 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 Robotics Research written by Antonio Bicchi and published by Springer. This book was released on 2017-07-24 with total page 712 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 seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. 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 Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Download or read book Practical Sensor based Manipulator Motion Planning in Completely Unknown Dynamic Environments written by Rayomand Soli Vatcha and published by . This book was released on 2006 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous high-DOF robot manipulators working in unstructured environments has been one of the ultimate challenges in robotics research. Progress towards this goal requires advances in many domains, including manipulator motion planning in unknown and dynamic environments. Where there is relatively little work in the literature. This thesis presents a novel and practical approach to sensor-based real-time motion planning for manipulators in a completely unknown dynamic environment. The approach is implemented and tested on a real 5-DOF robot manipulator equipped with an overhead stereo vision system with good results.
Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.
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 Motion Planning Under Uncertainties written by Sourav Dutta (Ph. D. in computer science) and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Download or read book Safe Randomized Motion Planning for a 9 dof Manipulator written by Supinya Khetchaikasem and published by . This book was released on 1997 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book On Motion Planning with Uncertainty Revised written by M. A. Erdmann and published by . This book was released on 1984 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots must successfully plan and execute tasks in the presence of uncertainty. Uncertainty arises from errors in modelling, sensing, and control. Planning in the presence of uncertainty constitutes one facet of the general motion planning problem in robotics. This problem is concerned with the automatic synthesis of motion strategies from high level task specifications and geometric models of environments. In order to develop successful motion strategies, it is necessary to understand the effect of uncertainty on the geometry of object interactions. Object interactions, both static and dynamic, may be represented in geometrical terms. This thesis investigates geometrical tools for modelling and overcoming uncertainty. The thesis describes an algorithm for computing backprojections of desired task configurations. Task goals and motion states are specified in terms of a moving object's configuration space. Backprojections specify regions in configuration space from which particular motions are guaranteed to accomplish a desired task. The backprojection algorithm considers surfaces in configuration space that facilitate halt.
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 Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Download or read book Safe Motion Planning and Control for Robotic Manipulators written by Bakir Lacevic and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book 3D Motion Planning Using Kinodynamically Feasible Motion Primitives in Unknown Environments written by Peiyi Chen and published by . This book was released on 2011 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles are a great asset to society by helping perform many dangerous or tedious tasks. They have already been successfully employed for many practical applications, such as search and rescue, automated surveillance, exploration and mapping, sample collection, and remote inspection. In order to perform most tasks autonomously, the vehicle must be able to safely and efficiently navigate through its environment. The algorithms and techniques that allow an autonomous vehicle to find traversable paths to its destination defines the set of problems in robotics known as motion planning. This thesis presents a new motion planner that is capable of finding collision-free paths through an unknown environment while satisfying the kinodynamic constraints of the vehicle.
