Exploiting Structure: A Guided Approach to Sampling-Based Robot Motion Planning
نویسنده
چکیده
Exploiting Structure: A Guided Approach to Sampling-Based Robot Motion Planning
منابع مشابه
Demonstration-Guided Motion Planning
We present demonstration-guided motion planning (DGMP), a new framework for planning motions for personal robots to perform household tasks. DGMP combines the strengths of sampling-based motion planning and robot learning from demonstrations to generate plans that (1) avoid novel obstacles in cluttered environments, and (2) learn and maintain critical aspects of the motion required to successfu...
متن کاملExploiting Contact for Efficient Motion Planning Under Uncertainty
In this paper we want to argue for contact as an enabler for efficient motion planning under uncertainty. Controlled and desired contact can project a high dimensional belief state to a lower-dimensional manifold. A robot can sequence these projections to reduce uncertainty about its state. For realistic applications, these uncertainty reducing actions must be sequenced with uncertainty-increas...
متن کاملPredictive Planning for a Mobile Robot in Human Environments
Generating short and safe paths for mobile robots operating in crowded spaces is a hard task due to the high uncertainty of each person’s future behaviour. Classical path planning approaches often result in an over-constrained or overly cautious robot that fails to produce a feasible, safe path in the crowd, or plans a large, sub-optimal detour to avoid people in the scene. This work addresses ...
متن کاملAccelerating Motion Planning for Learned Mobile Manipulation Tasks using Task-Guided Gibbs Sampling
We present Task-Guided Gibbs Sampling (TGGS), an approach to accelerating motion planning for mobile manipulation tasks learned from demonstrations. This method guides sampling toward configurations most likely to be useful for successful task execution while avoiding manual heuristics and preserving asymptotic optimality of the motion planner. We leverage the learned task model, which is alrea...
متن کاملA Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کامل