Lehner, Peter and Sieverling, Arne and Brock, Oliver (2015) Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4761-4767. IEEE. IEEE International Conference on Robotics and Automation, 26-30 May 2015, Seattle, USA. doi: 10.1109/ICRA.2015.7139861.
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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7139861
Abstract
We present an incremental method for motion generation in environments with unpredictably moving and initially unknown obstacles. The key to the method is its incremental nature: it locally augments and adapts global motion plans in response to changes in the environment, even if they significantly change the connectivity of the world. The restriction to local changes to a global plan results from the fact that in mobile manipulation, robots can ultimately only rely on their on-board sensors to perceive changes in the world. The proposed method addresses three sub-problems of motion generation with three algorithmic components. The first component reactively adapts plans in response to small, continuous changes. The second augments the plan locally in response to connectivity changes. And the third extracts a global, goal-directed motion from the representation maintained by the first two components. In an experimental evaluation of this method, we show a real-world mobile manipulator executing a whole-body motion task in an initially unknown environment, while incrementally maintaining a plan using only on-board sensors.
Item URL in elib: | https://elib.dlr.de/97102/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
Title: | Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments | ||||||||||||
Authors: |
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Date: | May 2015 | ||||||||||||
Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | Yes | ||||||||||||
DOI : | 10.1109/ICRA.2015.7139861 | ||||||||||||
Page Range: | pp. 4761-4767 | ||||||||||||
Publisher: | IEEE | ||||||||||||
Series Name: | Proceedings of IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Manipulators Mobile communication Planning Robot sensing systems Trajectory | ||||||||||||
Event Title: | IEEE International Conference on Robotics and Automation | ||||||||||||
Event Location: | Seattle, USA | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Dates: | 26-30 May 2015 | ||||||||||||
Organizer: | IEE/RAS | ||||||||||||
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) > Autonomy and Teleoperation | ||||||||||||
Deposited By: | Lehner, Peter | ||||||||||||
Deposited On: | 09 Jul 2015 10:20 | ||||||||||||
Last Modified: | 09 Feb 2017 19:21 |
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