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Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks

Lehner, Peter and Albu-Schäffer, Alin Olimpiu (2017) Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks. In: IEEE International Conference on Intelligent Robots and Systems, pp. 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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Abstract

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.

Item URL in elib:https://elib.dlr.de/112871/
Document Type:Conference or Workshop Item (Speech)
Title:Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186139187815
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115741
Date:26 September 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/iros.2017.8206116
Page Range:pp. 2851-2856
Publisher:IEEE
ISBN:978-1-5386-2681-8
Status:Published
Keywords:Motion and Path Planning, Mobile Manipulation, Manipulation Planning
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Canada
Event Type:international Conference
Event Start Date:24 September 2017
Event End Date:28 September 2017
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:07 Dec 2017 15:57
Last Modified:24 Apr 2024 20:17

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