Planar batting under shape, pose, and impact uncertainty

Jiaxin L. Fu, Siddhartha S. Srinivasa, Nancy S. Pollard, Bart C. Nabbe
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper explores the planning and control of a manipulation task accomplished in conditions of high uncertainty. Statistical techniques, like particle filters, provide a framework for expressing the uncertainty and partial observability of the real world and taking actions to reduce them. We explore a classic manipulation problem of planar batting, but with a new twist of shape, pose and impact uncertainty. We demonstrate a technique for characterizing and reducing this uncertainty using a
more » ... rticle filter coupled with a lookahead planner that maximizes information gain. We show that a twostep planner that first acts for information gain and then acts to maximize the expectation of achieving a desired goal is effective at managing shape, pose and impact uncertainty.
doi:10.1109/robot.2007.363809 dblp:conf/icra/FuSPN07 fatcat:o7g5vubrmzeklaaypbqyvf5yjy