Sakagami, Ryo und Dömel, Andreas und Lehner, Peter und Riedel, Sebastian und Brunner, Sebastian und Albu-Schäffer, Alin Olimpiu und Stulp, Freek (2024) A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation. IEEE Robotics and Automation Letters, 9 (7), Seiten 6680-6687. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2024.3410156. ISSN 2377-3766.
PDF
- Postprintversion (akzeptierte Manuskriptversion)
721kB |
Offizielle URL: https://ieeexplore.ieee.org/abstract/document/10549786
Kurzfassung
Mobile manipulation tasks in unstructured environments remain challenging for autonomous robots. The need to employ a diverse set of software and hardware components to solve the various subtasks inevitably increases system complexity. Knowledge exchange among such diverse components renders them highly coupled, reduces communication efficiency, and makes the knowledge less accessible. To overcome these challenges, we propose AIMM-WM, a central world model as a single source of truth having an abstracted geometric tree structure. Despite its concise, efficient state representation, AIMM-WM is able to provide a wide range of information from low-level geometries to highly abstracted symbols and is interfaced with diverse components for navigation, motion planning, perception, decision-making, and mission control. We evaluate the performance of AIMM-WM from the real use case of our Lightweight Rover Unit during the four-week Moon-analogue demo mission on Mt. Etna, Italy.
elib-URL des Eintrags: | https://elib.dlr.de/205106/ | ||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Titel: | A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation | ||||||||||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||||||||||
Datum: | 5 Juni 2024 | ||||||||||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
Band: | 9 | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/LRA.2024.3410156 | ||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 6680-6687 | ||||||||||||||||||||||||||||||||
Herausgeber: |
| ||||||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Mobile manipulation, software architecture for robotic and automation | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Sakagami, Ryo | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 02 Jul 2024 10:33 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 02 Jul 2024 10:33 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags