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Belief Space Planning for Underwater Cooperative Localization

by Jeffrey M. Walls, Stephen M. Chaves, Enric Galceran, Ryan M. Eustice
"... 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

by Evangelos Papadopoulos, Steven Dubowsky - 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 ..."
Abstract - Cited by 10 (4 self) - Add to MetaCart
; 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

by Piotr J. Gmytrasiewicz, Prashant Doshi - 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 ..."
Abstract - Cited by 130 (33 self) - Add to MetaCart
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

by Leslie Pack Kaelbling, Tomás Lozano-pérez , 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 ..."
Abstract - Cited by 8 (1 self) - Add to MetaCart
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

by Leslie Pack Kaelbling, Tomás Lozano-pérez
"... 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 ..."
Abstract - Cited by 24 (0 self) - Add to MetaCart
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

by unknown authors
"... 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

by Shiraj Sen, Roderic Grupen
"... 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 ..."
Abstract - Cited by 2 (2 self) - Add to MetaCart
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

by Vadim Indelman, Luca Carlone, Frank Dellaert
"... 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 ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
, 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

by Evangelos G. Papadopoulos - 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 ..."
Abstract - Cited by 6 (4 self) - Add to MetaCart
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

by Evangelos G. Papadopoulos - 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 ..."
Abstract - Cited by 7 (4 self) - Add to MetaCart
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
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