Title:
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
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