3 February 2014 Planning perception and action for cognitive mobile manipulators
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We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Andre Gaschler, Andre Gaschler, Svetlana Nogina, Svetlana Nogina, Ronald P. A. Petrick, Ronald P. A. Petrick, Alois Knoll, Alois Knoll, "Planning perception and action for cognitive mobile manipulators", Proc. SPIE 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, 90250D (3 February 2014); doi: 10.1117/12.2038967; https://doi.org/10.1117/12.2038967


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