Planning and executing navigation among movable obstacles
نویسندگان
چکیده
منابع مشابه
Navigation Among Movable Obstacles
Navigation Among Movable Obstacles Mike Stilman Robots would be much more useful if they could move obstacles out of the way. Traditional motion planning searches for collision free paths from a start to a goal. However, real world search and rescue, construction, home and nursing home domains contain debris, materials clutter, doors and objects that need to be moved by the robot. Theoretically...
متن کاملnavigation among movable obstacles
the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...
متن کاملHierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles
In this paper we present the first decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO). While efficient planners for NAMO exist, they suffer in practice from the inherent uncertainties in both perception and control on real robots. Generalizing the ideas of these planners to the nondeterministic case has proven difficult, due to the sensitivity of MDP methods...
متن کاملPlanning Among Movable Obstacles with Artificial Constraints
In this paper we present artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified obstacles in order to create space for a path. A plan is an ordered sequence of paths for robot motion and object manipulation. We show that under monotone assumptions, anti...
متن کاملPath Planning among Movable Obstacles: A Probabilistically Complete Approach
In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot’s way from a start to a goal position. We make the observation that we can decouple the computations of the robot motions and the obstacle movements, and present a probabilistically complete algorithm, something which to date has not been achieve...
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ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2007
ISSN: 0169-1864,1568-5535
DOI: 10.1163/156855307782227408