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Planning robot manipulation to clean planar surfaces

Autor
Martínez, D.; Alenyà, G.; Torras, C.
Tipus d'activitat
Article en revista
Revista
Engineering applications of artificial intelligence
Data de publicació
2015
Volum
39
Pàgina inicial
23
Pàgina final
32
DOI
https://doi.org/10.1016/j.engappai.2014.11.004 Obrir en finestra nova
Projecte finançador
IntellAct: Intelligent observation and execution of Actions and manipulations
Perception and Action in Robotics Problems with Large State Spaces DPI2011-27510 National Project
Repositori
http://hdl.handle.net/2117/79187 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0952197614002760 Obrir en finestra nova
Resum
This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We propose to define the problem using explicitly uncertain actions, and then plan the most effective sequence of actions in terms of time. However, some issues have to be tackled to plan efficiently with st...
Citació
Martínez, D., Alenyà, G., Torras, C. Planning robot manipulation to clean planar surfaces. "Engineering applications of artificial intelligence", 2015, vol. 39, p. 23-32.
Paraules clau
intelligent robots, learning (artificial intelligence), manipulators, planning (artificial intelligence), uncertainty handling
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants