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Topology-based representations for motion planning and generalization in dynamic environments with interactions
2013
The international journal of robotics research
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In real-world demonstrations, we highlight the benefits of using topology-based representations for online motion generalization in dynamic environments. ...
In this paper, we propose methods to combine and exploit different representations for synthesis and generalization of motion in dynamic environments. ...
For certain interaction problems, there exist suitable topology-based representations in which the interaction can be described in a way that generalizes well to novel or dynamic situations (as with the ...
doi:10.1177/0278364913482017
fatcat:pme4hlj5tfbkxk4as4cpkyyciy
Hierarchical Motion Planning in Topological Representations
2012
Robotics: Science and Systems VIII
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In this paper we propose methods to combine and exploit different representations for motion synthesis, with specific emphasis on generalization of motion to novel situations. ...
However, considering motion synthesis solely in topological spaces is insufficient since it does not cater for additional tasks and constraints in other representations. ...
Acknowledgements: This work was funded by the EU FP7 project TOMSY and EPSRC project EP/H012338/1. ...
doi:10.15607/rss.2012.viii.059
dblp:conf/rss/ZarubinITKV12
fatcat:kwtfzqag2rfrnlidr3ndvmmxuu
Reactive Whole-Body Obstacle Avoidance for Collision-Free Human-Robot Interaction with Topological Manifold Learning
[article]
2022
arXiv
pre-print
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interactions even in a dynamically constrained environment. ...
Unfortunately, for most robotic systems, their shared working environment with human operators may not always be static, instead often dynamically varying and being constantly cluttered with unanticipated ...
We propose integrating topological manifold learning with deep autoencoding synergistically in order to efficiently generate adaptable motion policy for dynamically constrained environment with unforeseen ...
arXiv:2203.13821v1
fatcat:4v2hg6stbvdp7ebznvysj5p3ue
Focused section on advanced robotic systems for industrial automation
2020
International Journal of Intelligent Robotics and Applications
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His current interests are in the fields of cognitive robotics, robot partners, coevolutionary computation, fuzzy control, spiking neural networks, and informationally structured space. ...
For specific tasks, motion planning and compliant control are inescapable for a robot interacting with objects and environments. ...
The combined task and motion planning are integrated to generate grasps and motions for a dual-arm robot to pick up objects and move them to assembly poses. ...
doi:10.1007/s41315-020-00139-y
fatcat:7gypvlwflrgszjcwkmgbsilpcq
Cognitive Interpretation of Everyday Activities - Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation
2013
Workshop on Computational Models of Narrative
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We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with visuo-spatial perception and ...
Our proposed narrative model encompasses aspects such as space, events, actions, change, and interaction from the viewpoint of commonsense reasoning and learning in large-scale cognitive systems. ...
robotic plan generation, semantic model generation from video, ambient intelligence and smart environments (e.g., see narrative based models in [10, 11, 17, 3, 7, 8] ). ...
doi:10.4230/oasics.cmn.2013.24
dblp:conf/cmn/BhattSS13
fatcat:yu76luhe4ravldyymglafnf2ry
Cognitive Interpretation of Everyday Activities: Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation
[article]
2013
arXiv
pre-print
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We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with "visuo-spatial perception and ...
structures, Motion, Perceptual reasoning, Shape, Video analysis General keywords: cognitive systems; human-computer interaction; spatial cognition and computation; commonsense reasoning; spatial and temporal ...
Perceptual Narrative Generation for Activity Interpretation Systems that monitor and interact with an environment populated by humans and other artefacts require a formal means for representing and reasoning ...
arXiv:1306.5308v1
fatcat:jxqphtmqrjaz3i77dvgeiklwoq
Active compliant motion: a survey
2005
Advanced Robotics
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Introduction Compliant motion allows a robot or an object held by a robot to comply to the interaction forces generated by its contact with the objects in an environment. ...
In the current literature, contact states are described in a variety of ways or combination of ways based on their use and convenience, such as topological representation in terms of contacting topological ...
Many earlier contact motion strategies assumed this representation. Another topological representation was introduced by Desai et al. ...
doi:10.1163/156855305323383767
fatcat:2nt6uwkisvdtfkcvhlohesi36q
Perceptual Narratives of Space and Motion for Semantic Interpretation of Visual Data
[chapter]
2015
Lecture Notes in Computer Science
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We propose a commonsense theory of space and motion for the high-level semantic interpretation of dynamic scenes. ...
The theory provides primitives for commonsense representation and reasoning with qualitative spatial relations, depth profiles, and spatio-temporal change; these may be combined with probabilistic methods ...
) control actions based on the aforementioned reasoning capabilities which is an important ability for dynamic control in smart environments. ...
doi:10.1007/978-3-319-16181-5_24
fatcat:gcrh3sjjtzdavllpcscf4hnydm
Now or later? Predicting and maximising success of navigation actions from long-term experience
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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In planning for deliberation or navigation in realworld robotic systems, one of the big challenges is to cope with change. ...
(iii) the application of the predicted outcomes in an MDP-based planning framework. ...
SPATIO-TEMPORAL TOPOLOGICAL REPRESENTATIONS FOR MOTION PLANNING Having shown that our Frequency-enhanced topological representation has the potential to represent and predict reoccurring action outcomes ...
doi:10.1109/icra.2015.7139315
dblp:conf/icra/FentanesLKHH15
fatcat:g3cc5pjnmnf2toaeo5cmsjuxaa
Computing cell-based decompositions dynamically for planning motions of tethered robots
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
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Recently researchers have approached the problem of motion planning with topological constraints. ...
A concrete example of such problems -and the topic of this paper-is planning for a robot which is connected with a cable of limited length to a fixed point in the operation space. ...
ACKNOWLEDGMENT This work was supported in part by the National Science Foundation as part of Grant IIS-1302393. ...
doi:10.1109/icra.2014.6907762
dblp:conf/icra/TeshniziS14
fatcat:55k4ek7warfpnlq3ag5yqoil54
Commonsense Scene Semantics for Cognitive Robotics: Towards Grounding Embodied Visuo-Locomotive Interactions
2017
2017 IEEE International Conference on Computer Vision Workshops (ICCVW)
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The key contribution is an integrative methodology combining low-level visual processing with high-level, human-centred representations of space and motion rooted in artificial intelligence. ...
We present a commonsense, qualitative model for the semantic grounding of embodied visuo-spatial and locomotive interactions. ...
We also acknowledge the support of Omar Moussa, Thomas Hudkovic, and Vijayanta Jain in preparation of parts of the overall activity dataset. ...
doi:10.1109/iccvw.2017.93
dblp:conf/iccvw/SuchanB17
fatcat:y6hjq7mtjfgxvfg4bcuhzpb73y
Motion adaptation for humanoid robots in constrained environments
2013
2013 IEEE International Conference on Robotics and Automation
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Such a representation is then used in adapting the reference motion to an altered environment. ...
This paper presents a new method to synthesize full body motion for controlling humanoid robots in highly constrained environments. ...
ACKNOWLEDGEMENT The authors would like to thank the anonymous reviewers for their constructive comments and suggestions. They also thank Mr. ...
doi:10.1109/icra.2013.6631113
dblp:conf/icra/HoS13
fatcat:wjx74km3ojb3pjd6gcy7npe7xe
Robotic control and motion planning
2012
2012 IEEE International Symposium on Industrial Electronics
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In this paper we present a probabilistic grid-based approach for modeling changing environments, which considered as the process of navigating the mobile robot around a configured space, which has a number ...
Motion-planning is an important primitive for autonomous mobile robots that lets robots find the shortest motion or optimal motion between two points. ...
The environment map allows mobile robots to interact coherently with objects and people in this environment. ...
doi:10.1109/isie.2012.6237269
fatcat:y4pln2356ba3hmtjgrfpkanzdu
Toward a Hybrid Approach for Crowd Simulation
2016
International Journal of Advanced Computer Science and Applications
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We demonstrate the flexibility and scalability of our interactive hybrid simulation technique in a large environment. ...
This technique demonstrates the applicability of hybrid techniques to the efficient simulation of large-scale flows with complex dynamics. ...
[2] , who presented the continuum model in order to generate realistic motion planning for crowds. ...
doi:10.14569/ijacsa.2016.070108
fatcat:6je5r2yskzaobauyn75jcgspr4
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids
[article]
2022
arXiv
pre-print
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In this work, we propose a representation based on the formalism of topological braids that can summarize arbitrarily complex multiagent behavior into a compact object of dual geometric and symbolic nature ...
This representation allows us to formally enumerate the space of outcomes in a traffic scene and characterize their complexity. ...
ABSTRACTING DRIVING INTERACTIONS AS TOPOLOGICAL BRAIDS We introduce a representation based on topological braids [1] , that captures critical interaction events in street environments (e.g., overtaking ...
arXiv:2109.07060v2
fatcat:37dxrr27cbdxrdhqgt6hlbp7iy
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