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Mutable Spaces And Unseen Places: A Study Of Access, Communication And Spatial Control In Households At Early Iron Age (Eia) Zagora On Andros

Kristen Patricia Mann
2015 Zenodo  
This analysis allows for the patterns, characteristics and attributes of different spatial systems to be readily and visually assessed.  ...  It examines the degree of control over sight, movement and the level of interaction between household inhabitants and the larger community.  ...  Each case-study consists of three or more rooms accessed via a central unroofed space. However, the size and precise configuration of their rooms differ.  ... 
doi:10.5281/zenodo.1045601 fatcat:gvqc3w4jxzgijlnpqkntvu5uuq

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning [article]

Kalyan Vasudev Alwala, Mustafa Mukadam
2021 arXiv   pre-print
Among the most prevalent motion planning techniques, sampling and trajectory optimization have emerged successful due to their ability to handle tight constraints and high-dimensional systems, respectively  ...  We present a unified approach that leverages the complementary strengths of sampling and optimization, and interleaves them both in a manner that is well suited to this challenging problem.  ...  Thus our method JIST explores via sampling and exploits via efficient optimization and combines the benefits of both by leveraging a factor graph backbone that dynamically grows and shrinks between iterations  ... 
arXiv:2011.07171v2 fatcat:fyexjuqmwjarlkzc3cehdwecra

Tangled: Learning to untangle ropes with RGB-D perception

Wen Hao Lui, Ashutosh Saxena
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We then repeatedly perform perception and manipulation until the rope is untangled.  ...  We evaluate our algorithm extensively on a dataset having five different types of ropes and 10 different types of knots.  ...  This work was supported by ARO award W911NF-12-1-0267, the Microsoft Faculty Fellowship and the NSF Career Award to one of us (Saxena).  ... 
doi:10.1109/iros.2013.6696448 dblp:conf/iros/LuiS13 fatcat:4rjc44zpozgbdguedlp3lf55n4

Bridging Scene Understanding and Task Execution with Flexible Simulation Environments [article]

Zachary Ravichandran, J. Daniel Griffith, Benjamin Smith, Costas Frost
2020 arXiv   pre-print
TESSE has been used to develop state-of-the-art solutions for metric-semantic mapping and 3D dynamic scene graph generation.  ...  Simulation is becoming increasingly vital as sophisticated perception approaches such as metric-semantic mapping or 3D dynamic scene graph generation require precise 3D, 2D, and inertial information in  ...  ACKNOWLEDGMENT The authors would like to thank the members of the MIT Lincoln Laboratory Technology Office and Autonomous Systems Line Committee for their support.  ... 
arXiv:2011.10452v1 fatcat:ptvcrpygoreezmjlwwa5rtxdzq

Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt [article]

Fahad Islam, Oren Salzman, Aditya Agarwal, Maxim Likhachev
2021 arXiv   pre-print
Besides the planning efficiency, the success of manipulation tasks relies heavily on the accuracy of the perception system which is often noisy, especially if the target objects are perceived from a distance  ...  We then present our planning framework for grasping objects off a conveyor belt as an instance of the CTMP class of algorithms.  ...  Acknowledgements This work was supported by the ONR grant N00014-18-1-2775 and the ARL grant W911NF-18-2-0218 as part of the A2I2 program.  ... 
arXiv:2101.07148v1 fatcat:xzxvxrf44fcktnc4u7b4bxg33i

Multi-Robot Region-of-Interest Reconstruction with Dec-MCTS

Fouad Sukkar, Graeme Best, Chanyeol Yoo, Robert Fitch
2019 2019 International Conference on Robotics and Automation (ICRA)  
Motion planning is performed over a navigation graph that considers the high-dimensional configuration space of the robot arms.  ...  A recently proposed non-myopic planning algorithm, Decentralised Monte Carlo tree search, is used to coordinate the actions of the robot arms.  ...  ACKNOWLEDGEMENTS We would like to thank Pablo Ramón Soria, Wolfram Martens and Stefan Kiss for their contribution to the development of this work.  ... 
doi:10.1109/icra.2019.8793560 dblp:conf/icra/SukkarBYF19 fatcat:dj4ic6fuovfihg6npbrb7vji6u

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies [article]

Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2021 arXiv   pre-print
Analytical controllers often fail in the presence of dense configurations, due to the difficulty of grasping between adjacent cable segments.  ...  The composition of these methods successfully untangles a cable from a dense initial configuration in 68.3% of 60 physical experiments and achieves 50% higher success rates than baselines from prior work  ...  The da Vinci Research Kit is supported by the National Science Foundation, via the National Robotics Initiative (NRI), as part of the collaborative research project "Software Framework for Research in  ... 
arXiv:2107.08942v1 fatcat:tw4h72iyg5afneroajhwxf7ula

Probabilistic Inference in Planning for Partially Observable Long Horizon Problems [article]

Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin, Zhen Zeng, Odest Chadwicke Jenkins
2021 arXiv   pre-print
Given the robot's belief and a plan skeleton composed of symbolic actions, our approach grounds each symbolic action by inferring continuous action parameters needed to execute the plan successfully.  ...  Most Task and Motion Planning approaches assume full observability of their state space, making them ineffective in stochastic and partially observable domains that reflect the uncertainties in the real  ...  noisy perception system.  ... 
arXiv:2110.09153v1 fatcat:34hfu33lr5amdm7sft37skpmlm

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  over the robot and world states).  ...  We would like to thank the rest of Team CoSTAR, our collaborators, and advisors for their support, fruitful discussions and their contributions to the project.  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Imitation Learning and Response Facilitation in Embodied Agents [chapter]

Stefan Kopp, Olaf Graeser
2006 Lecture Notes in Computer Science  
The basis of this behavior seems to be a direct influencing of the motor system by the perceptual system, affording fast, selective enhancement of a motor response already in the repertoire (response facilitation  ...  Building upon a computational motor control model, our approach connects visual representations of observed hand and arm movements to graph-based representations of motor commands.  ...  Nodes in these graphs correspond to static motor system states, e.g. positions of the wrists in a bodycentered frame of reference, or configurations of joint angles of one hand.  ... 
doi:10.1007/11821830_3 fatcat:xhjzcy3j45g25j4wbvvkknlpai

Leaving Flatland: Toward real-time 3D navigation

Benoit Morisset, Radu Bogdan Rusu, Aravind Sundaresan, Kris Hauser, Motilal Agrawal, Jean-Claude Latombe, Michael Beetz
2009 2009 IEEE International Conference on Robotics and Automation  
We report our first experiences with Leaving Flatland, an exploratory project that studies the key challenges of closing the loop between autonomous perception and action on challenging terrain.  ...  We propose a comprehensive system for localization, mapping, and planning for the RHex mobile robot in fully 3D indoor and outdoor environments.  ...  This work was partially supported by the CoTeSys (Cognition for Technical Systems) cluster of excellence at the Technische Universität München.  ... 
doi:10.1109/robot.2009.5152715 dblp:conf/icra/MorissetRSHALB09 fatcat:gjhuksqsznc6reruddgfcjqd5e

Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles

Maxim Likhachev, Dave Ferguson
2008 Robotics: Science and Systems IV  
The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution.  ...  In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances.  ...  Enforcing the low-resolution action space to be a subset of the high-resolution action space decreases the branching factor of the graph constructed by the search, which is certainly important, but it  ... 
doi:10.15607/rss.2008.iv.028 dblp:conf/rss/LikhachevF08 fatcat:5envmh2bofc2nnyb5quf4wrs4y

Team AnnieWAY's Autonomous System for the DARPA Urban Challenge 2007 [chapter]

Sören Kammel, Julius Ziegler, Benjamin Pitzer, Moritz Werling, Tobias Gindele, Daniel Jagzent, Joachim Schöder, Michael Thuy, Matthias Goebl, Felix von Hundelshausen, Oliver Pink, Christian Frese (+1 others)
2009 Springer Tracts in Advanced Robotics  
Mission and maneuver planning is conducted via a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws.  ...  Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements.  ...  The authors gratefully acknowledge support of the TCRC by the Deutsche Forschungsgemeinschaft (German Research Foundation).  ... 
doi:10.1007/978-3-642-03991-1_9 fatcat:unj45qcwczcz5ocenxixktcesq

Learning from Implicit Information in Natural Language Instructions for Robotic Manipulations [article]

Ozan Arkan Can and Pedro Zuidberg Dos Martires and Andreas Persson and Julian Gaal and Amy Loutfi and Luc De Raedt and Deniz Yuret and Alessandro Saffiotti
2019 arXiv   pre-print
Achieving this representation can be done via learning, where both the world representation and the language grounding are learned simultaneously.  ...  Human-robot interaction often occurs in the form of instructions given from a human to a robot.  ...  a CHIST-ERA project funded by the EU H2020 framework program, the Research Foundation -Flanders, the Swedish Research Council (Vetenskapsrådet), and the Scientific and Technological Research Council of  ... 
arXiv:1904.13324v1 fatcat:bipl2c6ajvdbdkgf4e64h75fzi

V2X-Communication-Aided Autonomous Driving: System Design and Experimental Validation

Chanyoung Jung, Daegyu Lee, Seungwook Lee, David Hyunchul Shim
2020 Sensors  
This paper presents a V2X communication-aided autonomous driving system for vehicles. It is comprised of three subsystems: beyond line-of-sight (BLOS) perception, extended planning, and control.  ...  Specifically, the BLOS perception subsystem facilitates unlimited LOS environmental perception through data fusion between local perception using on-board sensors and communication perception via V2X.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s20102903 pmid:32443823 fatcat:fzejfnjdlzelbckzz4xhybmc5e
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