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Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Lei Cui
2015 Journal Electrical and Electronic Engineering  
This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude  ...  using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control.  ...  Hsiao, Kaelbling and Lozano-Perez [60] provided a method for planning under uncertainty for robotic manipulation by partitioning the configuration space into a set of regions that were closed under compliant  ... 
doi:10.11648/j.jeee.20150305.20 fatcat:ssn7fk2dqnajxaczt77xg4dfre

Sensor-based, task-constrained motion generation under uncertainty

Arne Sieverling, Nicolas Kuhnen, Oliver Brock
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
Motion generation methods suitable for these applications must account for endeffector task constraints, must reason about environment uncertainty, i.e. the fact that the exact state of the dynamic environment  ...  We present the Expected-Shortest-Path Elastic Roadmap (ESPER) planner as a motion generation method suitable for mobile manipulation.  ...  Approximate solutions were successfully applied to 2D mobile robot navigation [17] and motion planning under sensing and action uncertainty [18] .  ... 
doi:10.1109/icra.2014.6907492 dblp:conf/icra/SieverlingKB14 fatcat:b7bes7yvsnf5znzgsdo3tlmajy

Homography Estimation Between Omnidirectional Cameras Without Point Correspondences [chapter]

Robert Frohlich, Levente Tamás, Zoltan Kato
2015 Studies in Systems, Decision and Control  
We also wish to extend deep thanks to the contributing authors for their efforts, and to the editing team at Springer for their help throughout this project.  ...  Acknowledgments The editors are grateful to the Romanian National Authority for Scientific Research, CNCS-UEFISCDI for supporting them financially through the Young Teams project No.  ...  A particularly interesting problem occurs at the intersection of uncertainty and networked robotic teams: distributed sensing under uncertainty.  ... 
doi:10.1007/978-3-319-26327-4_6 fatcat:jzfi55x2bzgnxmalsregytzmmq

Actuator networks for navigating an unmonitored mobile robot

Jeremy Schiff, Anand Kulkarni, Danny Bazo, Vincent Duindamx, Ron Alterovitz, Dezhen Song, Ken Goldberg
2008 2008 IEEE International Conference on Automation Science and Engineering  
Sets of actuators are sequentially activated to induce a series of static potential fields that robustly drive the robot from a start to an end location under movement uncertainty.  ...  Building on recent work in sensor-actuator networks and distributed manipulation, we consider the use of pure actuator networks for localization-free robotic navigation.  ...  We also thank Claire Tomlin, and Shankar Sastry for their support.  ... 
doi:10.1109/coase.2008.4626500 dblp:conf/case/SchiffKBDASG08 fatcat:2fz3uhxdobcgldbe73wugexr2i

Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty [article]

Mariliza Tzes, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas
2022 arXiv   pre-print
The overall architecture can handle environmental and sensing uncertainty online, as the robot explores its workspace.  ...  In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty.  ...  CONCLUSION In this paper, we introduce a novel hybrid architecture for rearrangement planning under sensing and environmental uncertainty, that can design informative paths for actively reducing the uncertainty  ... 
arXiv:2205.06301v1 fatcat:wmajgkwlf5gilf7wwhv2qjvqni

Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions

Aliakbar Akbari, Mohammed Diab, Jan Rosell
2020 Applied Sciences  
Manipulation planning under incomplete information is a highly challenging task for mobile manipulators.  ...  Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process.  ...  Introduction Robotic manipulation tasks become highly challenging when a mobile manipulator is required to obtain a feasible plan to solve a given problem under potential uncertainties.  ... 
doi:10.3390/app10051665 fatcat:wwdvlbecwvhilahafkbggjymia

Cooperative Control for Localization of Mobile Sensor Networks [chapter]

Fan Zhang, Ben Grocholsky, Vijay Kumar, Max Mintz
2004 Lecture notes in control and information sciences  
A framework for active perception is presented utilizing a graphical representation of sensory information obtained from the robot network.  ...  A framework for active perception is presented utilizing a graphical representation of sensory information obtained from the robot network.  ...  (b) Sensing graph G2 for the two-robot formation. (a) Uncertainty of position estimates under sensing graph G1. (b) Uncertainty of position estimates under sensing graph G2.  ... 
doi:10.1007/978-3-540-31595-7_14 fatcat:zp5j7sxe2jfxfbssr56hpyqabm

Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

Chunlin Chen, Tiaojun Xiao
2011 Intelligent Control and Automation  
In this paper, a probabilistic fuzzy approach is proposed for mobile-robot reactive navigation using range sensors.  ...  The primary motivation is an integrated reactive navigation control system with good real-time performance under uncertainty.  ...  Hence PFLS will be more valuable for the processing of various uncertainties and the reactive navigation control of mobile robots.  ... 
doi:10.4236/ica.2011.22009 fatcat:cwy3rb226neejkaopib2hm3qsu

Compressive mobile sensing for robotic mapping

Sheng Hu, Jindong Tan
2008 2008 IEEE International Conference on Automation Science and Engineering  
It is also presented the simulation and experimental results of a robotic mapping problem using compressive mobile sensing.  ...  Moreover, a special measurement process has been built under the constraint of the mobile sensors.  ...  For the sensing uncertainty, the noise can be modeled as a zero-mean Gaussian random variable with Σ = ε.  ... 
doi:10.1109/coase.2008.4626560 dblp:conf/case/HuT08 fatcat:35ne5qmdm5cnnbbzlwc5ynnzje

Complexity analysis and approximate solutions for two multiple-robot localization problems

Jinsuck Kim, N.M. Amato
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
In this paper, we consider the localization problem for a system of mobile rohots wing inexpensive range sensors.  ...  We show that both these problems are NP-complete, and we propose an approximate method for the multi-mho1 localization problem that takes advantage of the robots' pose uncertainty information.  ...  mobile robot systems.  ... 
doi:10.1109/robot.2004.1307289 dblp:conf/icra/KimA04 fatcat:z4jlvzehmnbxzbi6xmpl7mr6oe

Sensor planning for mobile robot localization using Bayesian network inference

Hongjun Zhou, Shigeyuki Sakane
2002 Advanced Robotics  
Abstract{We propose a new method of sensor planning for mobile robot localization using Bayesian network inference.  ...  The mobile robot recognizes the local sensor patterns for localization and navigation using a learned regression function.  ...  [9] proposed a method for vision-motion planning of a mobile robot under vision uncertainty and limited computational resource though they did not use Bayesian networks. Rimey et al.  ... 
doi:10.1163/15685530260425738 fatcat:d5pifhxlezdjflkzd7naquabha

A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing [chapter]

Lyudmila Mihaylova, Tine Lefebvre, Herman Bruyninckx, Klaas Gadeyne, Joris De Schutter
2003 Lecture Notes in Computer Science  
Simulation results from a new multisine approach for active sensing of a nonholonomic mobile robot are given.  ...  This work presents a comparison of decision making criteria and optimization methods for active sensing in robotics.  ...  Simulation results for active sensing of a wheeled mobile robot with a parameterized sequence of actions are presented.  ... 
doi:10.1007/3-540-36487-0_35 fatcat:g6o5k3ze7jgkdmlpf4s65yswqu

Coastal Navigation with Mobile Robots

Nicholas Roy, Sebastian Thrun
1999 Neural Information Processing Systems  
The problem that we address in this paper is how a mobile robot can plan in order to arrive at its goal with minimum uncertainty.  ...  By minimizing the positional uncertainty at the goal, the robot reduces the likelihood it becomes lost.  ...  It is an question for future work as to how many statistics can capture the uncertainty of a mobile robot, and under what environmental conditions.  ... 
dblp:conf/nips/RoyT99 fatcat:qrn47tuukjc6nje6yx4oqr25tm

Mobile robot localization in indoor environment using RFID and sonar fusion system

Byoung-Suk Choi, Ju-Jang Lee
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The sensor system for mobile robot localization is technical limitation such as sensing range, operation feature. Therefore we focus on sensor fusion scheme.  ...  Localization of indoor environment is a fundamental issue for mobile robot.  ...  Environment for Experiments For the localization of a mobile robot, it is assumed that the mobile robot moves along the designed path.  ... 
doi:10.1109/iros.2009.5354104 dblp:conf/iros/ChoiL09 fatcat:j4egmkxq35ax5k7ik4r7xnu3kq

Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty

Sachin Patil, Jur van den Berg, Ron Alterovitz
2012 2012 IEEE International Conference on Robotics and Automation  
We present a fast, analytical method for estimating the probability of collision of a motion plan for a mobile robot operating under the assumptions of Gaussian motion and sensing uncertainty.  ...  Estimating the probability of collision is an integral step in many algorithms for motion planning under uncertainty and is crucial for characterizing the safety of motion plans.  ...  In this work, we present a fast, analytical method to estimate the probability of collision for a mobile robot executing a given motion plan under Gaussian models of motion and sensing uncertainty.  ... 
doi:10.1109/icra.2012.6224727 dblp:conf/icra/PatilBA12 fatcat:hshcekn2krcqlki2lfredofbw4
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