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The planner ensemble: Motion planning by executing diverse algorithms

Sanjiban Choudhury, Sankalp Arora, Sebastian Scherer
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We have developed a planning system that does this by running competing planners in parallel.  ...  Does the feasible state space have good connectivity? We address the problem of determining suitable motion planning strategies that can work on a diverse set of applications.  ...  DISCUSSION We have presented an approach to solve diverse planning problems with an ensemble of complementary planners.  ... 
doi:10.1109/icra.2015.7139517 dblp:conf/icra/ChoudhuryAS15 fatcat:elocj72msrahlpesrrvrnaqlei

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Oliver Kosak, Constantin Wanninger, Alwin Hoffmann, Hella Ponsar, Wolfgang Reif
2018 Sensors  
When many of these robots work together, we call the structure of this cooperation an ensemble.  ...  Because typically a high degree of autonomy in such systems is a prerequisite for their practical usage, we also present the integration of necessary mechanisms and algorithms for achieving the systems  ...  An HTN planner (as mentioned in the previous section) that is also able to plan resources is O-Plan [124] .  ... 
doi:10.3390/s19010017 fatcat:oq3ohsfduzbxtcjx2m42jv4sfq

Elucidating the ensemble of functionally-relevant transitions in protein systems with a robotics-inspired method

Kevin Molloy, Amarda Shehu
2013 BMC Structural Biology  
A detailed analysis on the depth and breadth of the tree suggests that a soft global bias over the progress coordinate enhances sampling and results in higher path diversity.  ...  The explicit geometric projection layer that biases the exploration away from over-sampled regions further increases coverage, often improving proximity to the goal by forcing the exploration to find new  ...  Declarations The publication costs for this article were funded by the corresponding author AS through NSF Grant Nos. 1016995 and 1144106.  ... 
doi:10.1186/1472-6807-13-s1-s8 pmid:24565158 pmcid:PMC3952944 fatcat:lu5tbtdal5fspiqjqrzkxqp7ca


2011 Predicting Storm Surges: Chaos, Computational Intelligence, Data Assimilation and Ensembles  
The research reported here was supported by grant no. 16-5125-1 OS from the Danish Technical Research Council.  ...  Acknowledgments The development of SEED is sponsored by Battelle Pacific Northwest Laboratory, the US Army Corps of Engineers Construction Research Laboratory (USACERL) and the Engineering Design Research  ...  some of which had to be invented (e.g. algorithms for the computation of planning efficiency).  ... 
doi:10.1201/b11573-12 fatcat:y5ptfssf6jga3gz53emu6mp5by

Generalizing metamodules to simplify planning in modular robotic systems

D.J. Dewey, M.P. Ashley-Rollman, M. De Rosa, S.C. Goldstein, T.C. Mowry, S.S. Srinivasa, P. Pillai, J. Campbell
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We implement our planner for two different metamodule systems and show that the time to completion scales linearly with the diameter of the ensemble.  ...  By analyzing the constraints found in modular robotic systems we develop a holonomic metamodule which has two important properties: (1) it can be used as the basic unit of an efficient planner and (2)  ...  ACKNOWLEDGEMENTS This work was partially funded by the National Science Foundation (NSF) under grant no. CNS-0428738, Intel Re-search Pittsburgh, and Carnegie Mellon University.  ... 
doi:10.1109/iros.2008.4651094 dblp:conf/iros/DeweyADGMSPC08 fatcat:p3pbxoa6abfevdgtynnky23w7a

Co-ordinated Tracking and Planning Using Air and Ground Vehicles [chapter]

Abraham Bachrach, Alborz Garamifard, Daniel Gurdan, Ruijie He, Sam Prentice, Jan Stumpf, Nicholas Roy
2009 Springer Tracts in Advanced Robotics  
Fig. 6 . 6 (a-c) The paths executed by the MAV. (d) The expected plan executed by the commandos and EOD vehicle.  ...  Thirdly, we describe the planning algorithm used to generate motion plans to allow the ground vehicles to approach the hostage building undetected by adversaries tracked from the air.  ... 
doi:10.1007/978-3-642-00196-3_16 fatcat:6vx4scqcgje2fijh3hys5dzbna

Novel Credal Decision Tree-Based Ensemble Approaches for Predicting the Landslide Susceptibility

Alireza Arabameri, Ebrahim Karimi-Sangchini, Subodh Chandra Pal, Asish Saha, Indrajit Chowdhuri, Saro Lee, Dieu Tien Bui
2020 Remote Sensing  
The Random Forest (RF) algorithm was used for the identification of variables importance of different LCFs that are more prone to landslide susceptibility.  ...  Therefore, it is concluded that the CDT-ADTree ensemble model can be applied as a new promising technique for spatial prediction of the landslide in further studies.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/rs12203389 fatcat:vyfheay32vcrlbrosz7qibykcu

Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection [article]

Lirui Wang, Yu Xiang, Dieter Fox
2020 arXiv   pre-print
A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an end-effector pose for grasping.  ...  In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem.  ...  [30] also focus on the diversity of grasp synthesis, which allows and benefits motion planning with multiple goals.  ... 
arXiv:1911.10280v2 fatcat:o3eqzgeuqbemla7wdvs72ehwki

Programming modular robots with locally distributed predicates

Michael De Rosa, Seth Goldstein, Peter Lee, Padmanabhan Pillai, Jason Campbell
2008 2008 IEEE International Conference on Robotics and Automation  
We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.  ...  The result is a reactive programming language which efficiently and concisely supports ensemble-level programming.  ...  The authors would like to thank Siddhartha Srinivasa and Daniel Dewey for their assistance with the metamodule planning algorithm, and Michael Ashley-Rollman for invaluable insights into distributed declarative  ... 
doi:10.1109/robot.2008.4543691 dblp:conf/icra/DeRosaGLPC08 fatcat:sunsjh3i3rhajktg53ep26fncm

On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries

Ruijie He, Abraham Bachrach, Michael Achtelik, Alborz Geramifard, Daniel Gurdan, Samuel Prentice, Jan Stumpf, Nicholas Roy
2009 The international journal of robotics research  
Third, we describe the planning algorithm used to generate motion plans for the ground vehicles to approach the hostage building undetected by adversaries; these adversaries are tracked by the MAV from  ...  To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate ground targets, and planning the motion of ground  ...  Ruijie He was supported by the Republic of Singapore Armed Forces.  ... 
doi:10.1177/0278364909348805 fatcat:bav5fvsanfdyxcic3uz4btibia

Evaluating model-based planning and planner amortization for continuous control [article]

Arunkumar Byravan, Leonard Hasenclever, Piotr Trochim, Mehdi Mirza, Alessandro Davide Ialongo, Yuval Tassa, Jost Tobias Springenberg, Abbas Abdolmaleki, Nicolas Heess, Josh Merel, Martin Riedmiller
2021 arXiv   pre-print
Finally, we show that it is possible to distil a model-based planner into a policy that amortizes the planning computation without any loss of performance.  ...  There is a widespread intuition that model-based control methods should be able to surpass the data efficiency of model-free approaches.  ...  of planning to p plan = 1.0 (always planning) leads to slightly worse performance compared to interleaved planner and policy executions (p plan = 0.5).  ... 
arXiv:2110.03363v1 fatcat:do6vywo47jdf3jzcjabw5e6ngm

A General, Adaptive, Roadmap-Based Algorithm for Protein Motion Computation

Kevin Molloy, Amarda Shehu
2016 IEEE Transactions on Nanobioscience  
In this paper we propose a novel, robotics-inspired algorithm that circumvents time-scale challenges by drawing analogies between protein motion and robot motion.  ...  The algorithm adapts the popular roadmap-based framework in robot motion computation to handle the more complex protein conformation space and its underlying rugged energy surface.  ...  The algorithm is inspired by popular frameworks in robot motion planning as opposed to MDor MC-based frameworks.  ... 
doi:10.1109/tnb.2016.2519246 pmid:26863668 fatcat:7jhfgsj2ezdjbggfq4bsg3ww64

A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures [article]

Lu Dong and Zichen He and Chunwei Song and Changyin Sun
2022 arXiv   pre-print
Last but not least, we analyze the urgent challenges faced by these mainstream RL-based motion planners in detail, review some state-of-the-art works for these issues, and propose suggestions for future  ...  As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.  ...  For some particular MRs with non-holonomic constraints, sometimes the discrete path planned by the above methods cannot be executed well.  ... 
arXiv:2108.13619v4 fatcat:dbxxqxhpdzff3dx537kag2qwmq

Tractable locomotion planning for RoboSimian

Brian W. Satzinger, Chelsea Lau, Marten Byl, Katie Byl
2015 The international journal of robotics research  
We also illustrate the importance of allowing for significant body motion during swing leg motions on extreme terrain and quantify the trade-offs between computation time and execution time, subject to  ...  These results lead us to hypothesize that appropriate statistical "investment" of parallel computing resources between competing formulations or flavors of random planning algorithms can improve motion  ...  Acknowledgment This work is supported by JPL NASA Contract #1471138, which is a subcontract award for the DARPA Robotics Challenge (DRC).  ... 
doi:10.1177/0278364915584947 fatcat:lssmrgjmejcchdmiotxl5qtao4

Risk-aware Path and Motion Planning for a Tethered Aerial Visual Assistant in Unstructured or Confined Environments [article]

Xuesu Xiao
2020 arXiv   pre-print
Based on those theories, a novel high level path planning algorithm is developed to enable risk-aware planning, which balances the tradeoff between viewpoint quality and motion risk in order to provide  ...  This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments  ...  By running our two motion planning algorithms, we also wanted to demonstrate different reachability sets achievable by the two planners.  ... 
arXiv:2007.09595v1 fatcat:gfo6mb75kbc5zkga6kaa54fyj4
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