Lehner, Peter und Albu-Schäffer, Alin Olimpiu (2017) Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks. In: IEEE International Conference on Intelligent Robots and Systems, Seiten 2851-2856. IEEE. IROS, International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206116. ISBN 978-1-5386-2681-8.
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Kurzfassung
We present repetition sampling, a new adaptive strategy for sampling based planning, which extracts information from previous solutions to focus the search for a similar task on relevant configuration space. We show how to generate distributions for repetition sampling by learning Gaussian Mixture Models from prior solutions. We present how to bias a sampling based planner with the learned distribution to generate new paths for similar tasks. We illustrate our method in a simple maze which explains the generation of the distribution and how repetition sampling can generalize over different environments. We show how to apply repetition sampling to similar constrained manipulation tasks and present our results including significant speedup in execution time when compared to uniform sampling.
elib-URL des Eintrags: | https://elib.dlr.de/112871/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks | ||||||||||||
Autoren: |
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Datum: | 26 September 2017 | ||||||||||||
Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.1109/iros.2017.8206116 | ||||||||||||
Seitenbereich: | Seiten 2851-2856 | ||||||||||||
Verlag: | IEEE | ||||||||||||
ISBN: | 978-1-5386-2681-8 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Motion and Path Planning, Mobile Manipulation, Manipulation Planning | ||||||||||||
Veranstaltungstitel: | IROS, International Conference on Intelligent Robots and Systems | ||||||||||||
Veranstaltungsort: | Vancouver, Canada | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 24 September 2017 | ||||||||||||
Veranstaltungsende: | 28 September 2017 | ||||||||||||
Veranstalter : | IEEE | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||
Hinterlegt am: | 07 Dez 2017 15:57 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:17 |
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