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Topology-based representations for motion planning and generalization in dynamic environments with interactions

Vladimir Ivan, Dmitry Zarubin, Marc Toussaint, Taku Komura, Sethu Vijayakumar
2013 The international journal of robotics research  
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

Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, Taku Komura, Sethu Vijayakumar
2012 Robotics: Science and Systems VIII  
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]

Apan Dastider, Mingjie Lin
2022 arXiv   pre-print
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

Huan Zhao, LiMin Zhu, Yunyi Jia, Naoyuki Kubota
2020 International Journal of Intelligent Robotics and Applications  
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

Mehul Bhatt, Jakob Suchan, Carl Schultz, Marc Herbstritt
2013 Workshop on Computational Models of Narrative  
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]

Mehul Bhatt, Jakob Suchan, Carl Schultz
2013 arXiv   pre-print
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

Tine Lefebvre, Jing Xiao, Herman Bruyninckx, Gudrun de Gersem
2005 Advanced Robotics  
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]

Jakob Suchan, Mehul Bhatt, Paulo E. Santos
2015 Lecture Notes in Computer Science  
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

Jaime Pulido Fentanes, Bruno Lacerda, Tomas Krajnik, Nick Hawes, Marc Hanheide
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
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

Reza H. Teshnizi, Dylan A. Shell
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
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

Jakob Suchan, Mehul Bhatt
2017 2017 IEEE International Conference on Computer Vision Workshops (ICCVW)  
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

Edmond S. L. Ho, Hubert P. H. Shum
2013 2013 IEEE International Conference on Robotics and Automation  
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  
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

Chighoub Rabiaa, Cherif Foudil
2016 International Journal of Advanced Computer Science and Applications  
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]

Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S. Srinivasa
2022 arXiv   pre-print
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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