(Georgia Institute of Technology, 2011-09)
Emeli, Victor; Kemp, Charles C.; Stilman, Mike
The goal of this project is to investigate the implementation
of a planning algorithm for the problem of placing objects
on a cluttered surface with a PR-2 mobile manipulator. The
original push planning algorithm [1] was initially developed
as a simulation. We modified the simulator for execution in
real-world cluttered environments. This paper discusses the
challenges of implementation and presents empirical results
that determine how well the simulator models the real world
as clutter is pushed and collides with other objects.
(Georgia Institute of Technology, 2011-07)
Dantam, Neil; Stilman, Mike; Egerstedt, Magnus B.
Using both formal language and differential
equations to model a robotic system, we introduce a calculus
of transformation rules for the symbolic derivation of
hybrid controllers. With a Context-Free Motion Grammar,
we show how to test reachability between different regions
of state-space and give several symbolic transformations to
modify the set of event strings the system may generate.
This approach lets one modify the language of the hybrid
system, providing a way to change system behavior so that
it satisfies linguistic constraints on correct operation.