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62
Belief Space Planning for Underwater Cooperative Localization
"... AbstractThis paper reports on the inclusion of a proba-bilistic channel model within a cooperative localization plan-ning framework. Underwater cooperative localization reduces positioning errors by sharing sensor data across a team of underwater vehicles. Relative range constraints between vehi-cle ..."
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of belief space planning. In order to weight packet loss over the acoustic channel, we introduce a probabilistic channel model into the planning framework. We propose an optimization algorithm that allows us to plan open-loop control actions and, by extension, closed-loop parameterized trajectories. I.
Dynamic Singularities in Free-Floating Space Manipulators
- ASME J. Dyn.Syst., Meas., Contr.,115:1
, 1993
"... Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a dynamic singularity the manipulator is unable to move its end-effector in some inertial direction; thu ..."
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Cited by 10 (4 self)
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; thus dynamic singularities must be considered in the design, planning, and control of free-floating space manipulator systems. The existence and location of dynamic singularities cannot be predicted solely from the manipulator kinematic structure because they are functions of the dynamic properties
A framework for sequential planning in multi-agent settings
- JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH
, 2005
"... This paper extends the framework of partially observable Markov decision processes (POMDPs) to multi-agent settings by incorporating the notion of agent models into the state space. Agents maintain beliefs over physical states of the environment and over models of other agents, and they use Bayesian ..."
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Cited by 130 (33 self)
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This paper extends the framework of partially observable Markov decision processes (POMDPs) to multi-agent settings by incorporating the notion of agent models into the state space. Agents maintain beliefs over physical states of the environment and over models of other agents, and they use
Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning
, 2012
"... In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical symbolic regr ..."
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Cited by 8 (1 self)
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In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical symbolic
Integrated task and motion planning in belief space
"... We describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logi ..."
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Cited by 24 (0 self)
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We describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary
On Configuration Planning for Free-floating Space Robots
"... Abstract. Free–floating space manipulator systems, have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. A path planning methodology in joint space for planar free–floating space manipulator systems is developed that allows spacecraft attitude c ..."
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Abstract. Free–floating space manipulator systems, have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. A path planning methodology in joint space for planar free–floating space manipulator systems is developed that allows spacecraft attitude
Manipulation Planning using Model-Based Belief Dynamics
"... Abstract — Planning in partially-observable domains require an agent to fuse prior knowledge with observations to update belief and to search for optimal plans that reduce uncertainty with respect to the task. This requires a knowledge organization that captures the underlying dynamics of the belief ..."
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Cited by 2 (2 self)
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Abstract — Planning in partially-observable domains require an agent to fuse prior knowledge with observations to update belief and to search for optimal plans that reduce uncertainty with respect to the task. This requires a knowledge organization that captures the underlying dynamics
Towards Planning in Generalized Belief Space
"... Abstract We investigate the problem of planning under uncertainty, which is of interest in several robotic applications, ranging from autonomous navigation to ma-nipulation. Recent effort from the research community has been devoted to design planning approaches working in a continuous domain, relax ..."
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Cited by 1 (0 self)
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, relaxing the assumption that the controls belong to a finite set. In this case robot policy is computed from the current robot belief (planning in belief space), while the environment in which the robot moves is usually assumed to be known or partially known. We contribute to this branch of the literature
Nonholonomic Behavior in Free-floating Space Manipulators and its Utilization
- NONHOLONOMIC MOTION PLANNING
, 1993
"... The kinematics and dynamics of free-floating manipulators are examined from a fundamental point of view. The dynamic coupling between an uncontrolled spacecraft and its manipulator can make a system dynamically singular at configurations which cannot be predicted by the system’s kinematic properties ..."
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Cited by 6 (4 self)
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properties. Nonholonomic behavior is observed in free-floating systems, and is due to the nonintegrability of the angular momentum. A workspace point can be singular or not, depending on the path taken to reach it. Trouble-free Path Independent Workspaces are defined. Nonholonomy in space manipulators
Path Planning for Space Manipulators Exhibiting Nonholonomic Behavior
- Proc. of the Int. Conf. on Intelligent Robots and Systems, IROS ‘92
, 1992
"... Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegrability of the angular momentum. Free-floating manipulators exhibit dynamic singularities which cannot be predicted by the kinematic properties of the system and whose location in the workspace is path ..."
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Cited by 7 (4 self)
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is path dependent. Trouble-free Path Independent Workspaces are defined. A joint space planning technique used to control the orientation of the spacecraft by using joint manipulator motions is reviewed, and its limitations are discussed. Finally, a cartesian space planning method that permits
Results 1 - 10
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62
