Title:
Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics
Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics
| dc.contributor.author | Levihn, Martin | |
| dc.contributor.author | Scholz, Jonathan | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-07-18T16:32:09Z | |
| dc.date.available | 2013-07-18T16:32:09Z | |
| 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 | In this paper we present a decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO) operating under conditions faced by real robotic systems. While planners for the NAMO domain exist, they typically assume a deterministic environment or rely on discretization of the configuration and action spaces, preventing their use in practice. In contrast, we propose a planner that operates in real-world conditions such as uncertainty about the parameters of workspace objects and continuous configuration and action (control) spaces. To achieve robust NAMO planning despite these conditions, we introduce a novel integration of Monte Carlo simulation with an abstract MDP construction. We present theoretical and empirical arguments for time complexity linear in the number of obstacles as well as a detailed implementation and examples from a dynamic simulation environment. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Levihn, M.; Scholz, J. & Stilman, M. (2013). "Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics". 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/1853/48453 | |
| 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 | Manipulation planning | en_US |
| dc.subject | Mobile manipulation | en_US |
| dc.subject | Motion and path planning | en_US |
| dc.title | Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics | 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 |