Title:
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
dc.contributor.author | Stilman, Mike | |
dc.contributor.author | Kuffner, James J. | |
dc.contributor.corporatename | Carnegie-Mellon University. Robotics Institute | |
dc.contributor.corporatename | National Institute of Advanced Industrial Science and Technology (Japan). Digital Human Research Center | |
dc.date.accessioned | 2010-12-14T21:09:33Z | |
dc.date.available | 2010-12-14T21:09:33Z | |
dc.date.issued | 2005-12 | |
dc.description | Electronic version of an article published as International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005 pp. 479-504; DOI: 10.1142/S0219843605000545 ; © World Scientific Publishing Company ; http://www.worldscinet.com/ijhr/ijhr.shtml | en_US |
dc.description.abstract | In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment by moving obstacles and clearing free space for a path. This paper presents a resolution complete planner for a subclass of NAMO problems. Our planner takes advantage of the navigational structure through state-space decomposition and heuristic search. The planning complexity is reduced to the difficulty of the specific navigation task, rather than the dimensionality of the multi-object domain. We demonstrate real-time results for spaces that contain large numbers of movable obstacles. We also present a practical framework for single-agent search that can be used in algorithmic reasoning about this domain. | en_US |
dc.identifier.citation | M. Stilman, J. Kuffner. Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments. Int. J. of Humanoid Robotics, Vol. 2, No. 4, December, 2005 pp. 479-504. | en_US |
dc.identifier.issn | 0219-8436 | |
dc.identifier.uri | http://hdl.handle.net/1853/36417 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Navigation among movable objects | en_US |
dc.subject | Navigation | en_US |
dc.subject | Manipulation | en_US |
dc.subject | Planning | en_US |
dc.subject | Motion | en_US |
dc.subject | Movable obstacles | en_US |
dc.title | Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments | en_US |
dc.type | Text | |
dc.type.genre | Article | |
dspace.entity.type | Publication | |
local.contributor.corporatename | Humanoid Robotics Laboratory | |
relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |