Title:
Planning in Constraint Space: Automated Design of Functional Structures
Planning in Constraint Space: Automated Design of Functional Structures
| dc.contributor.author | Erdogan, Can | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-07-17T18:11:08Z | |
| dc.date.available | 2013-07-17T18:11:08Z | |
| dc.date.issued | 2013-05 | |
| dc.description | © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description | Presented at the 2013 IEEE International Conference on Robotics and Automation (ICRA), 6-10 May 2013, Karlsruhe, Germany. | |
| dc.description.abstract | On the path to full autonomy, robotic agents have to learn how to manipulate their environments for their benefit. In particular, the ability to design structures that are functional in overcoming challenges is imperative. The problem of automated design of functional structures (ADFS) addresses the question of whether the objects in the environment can be placed in a useful configuration. In this work, we first make the observation that the ADFS problem represents a class of problems in high dimensional, continuous spaces that can be broken down into simpler subproblems with semantically meaningful actions. Next, we propose a framework where discrete actions that induce constraints can partition the solution space effectively. Subsequently, we solve the original class of problems by searching over the available actions, where the evaluation criteria for the search is the feasibility test of the accumulated constraints. We prove that with a sound feasibility test, our algorithm is complete. Additionally, we argue that a convexity requirement on the constraints leads to significant efficiency gains. Finally, we present successful results to the ADFS problem. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Erdogan, C. & Stilman, M. (2013). "Planning in Constraint Space: Automated Design of Functional Structures". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), 6-10 May 2013. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/48436 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Autonomous agents | en_US |
| dc.title | Planning in Constraint Space: Automated Design of Functional Structures | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |