union robotics systems and automation laboratory motion planning in the real world brendan burns...
Post on 20-Dec-2015
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![Page 1: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/1.jpg)
Union Robotics Systems and Automation Laboratory
Motion Planning in the Real World
Brendan BurnsUnion College
![Page 2: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/2.jpg)
Union Robotics Systems and Automation Laboratory
Motion Planning
Many degrees of freedom Global planning Sampling-based planning
“Always on” system Responsive to user requests Productive use of “down” time
![Page 3: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/3.jpg)
Union Robotics Systems and Automation Laboratory
Real World
No model of the environment Knowledge from sensors Dynamic obstacles
Implications: Uncertainty Sensor feedback
![Page 4: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/4.jpg)
Union Robotics Systems and Automation Laboratory
Sense-Plan-Act Loop
Utility-GuidedPlanning Robot
Sensing
?
MovementRequest
Sensor-DirectedRequest
![Page 5: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/5.jpg)
Union Robotics Systems and Automation Laboratory
Sensing
![Page 6: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/6.jpg)
Union Robotics Systems and Automation Laboratory
Sensing : Voxel Space
![Page 7: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/7.jpg)
Union Robotics Systems and Automation Laboratory
Sensing: Occlusion
![Page 8: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/8.jpg)
Union Robotics Systems and Automation Laboratory
Sensing: Uncertainty
![Page 9: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/9.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 10: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/10.jpg)
Union Robotics Systems and Automation Laboratory
Utility-Guided Planning for Uncertain Environments
Modified PRM Planning Defer roadmap construction Search using A*
Use planning to guide sensing Act when certainty is above threshold
![Page 11: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/11.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 12: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/12.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 13: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/13.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 14: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/14.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 15: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/15.jpg)
Union Robotics Systems and Automation Laboratory
Planning perceptions
![Page 16: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/16.jpg)
Union Robotics Systems and Automation Laboratory
Example
![Page 17: Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College](https://reader034.vdocument.in/reader034/viewer/2022051415/56649d425503460f94a1d1df/html5/thumbnails/17.jpg)
Union Robotics Systems and Automation Laboratory
Open Questions/Challenges
Integrate sensing while moving Sensor fusion Assess sensor uncertainty Evaluate performance