Navigation Among Movable Obstacles In Unknown Environments PDF Download
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| Author | : Martin Levihn |
| Publisher | : |
| Total Pages | : |
| Release | : 2011 |
| Genre | : Algorithms |
| ISBN | : |
Download Navigation Among Movable Obstacles in Unknown Environments Book in PDF, ePub and Kindle
This work presents a new class of algorithms that extend the domain of Navigation Among Movable Obstacles (NAMO) to unknown environments. Efficient real-time algorithms for solving NAMO problems even when no initial environment information is available to the robot are presented and validated. The algorithms yield optimal solutions and are evaluated for real-time performance on a series of simulated domains with more than 70 obstacles. In contrast to previous NAMO algorithms that required a pre-specified environment model, this work considers the realistic domain where the robot is limited by its sensor range. It must navigate to a goal position in an environment of static and movable objects. The robot can move objects if the goal cannot be reached or if moving the object significantly shortens the path. The robot gains information about the world by bringing distant objects into its sensor range. The first practical planner for this exponentially complex domain is presented. The planner reduces the search-space through a collection of techniques, such as upper bound calculations and the maintenance of sorted lists with underestimates. Further, the algorithm is only considering manipulation actions if these actions are creating a new opening in the environment. In the addition to the evaluation of the planner itself is each of this techniques also validated independently.
| Author | : Andrey V. Savkin |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 360 |
| Release | : 2015-09-25 |
| Genre | : Technology & Engineering |
| ISBN | : 0128037571 |
Download Safe Robot Navigation Among Moving and Steady Obstacles Book in PDF, ePub and Kindle
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
| Author | : Mike Stilman |
| Publisher | : |
| Total Pages | : 134 |
| Release | : 2007 |
| Genre | : Robots |
| ISBN | : |
Download Navigation Among Movable Obstacles Book in PDF, ePub and Kindle
Abstract: "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, one can represent all possible interactions between the robot and movable objects as a huge search. We present methods that simplify the problem and make Navigation Among Movable Obstacles (NAMO) a practical challenge that can be addressed with current computers. This thesis gives a full development cycle from motion planning to implementation on a humanoid robot. First, we devise a state space decomposition strategy that reasons about free space connectivity to select objects and identify helpful displacements. Second, we present controls for balance and manipulation that allow the robot to move objects with previously unknown dynamics. Finally, we combine these results in a complete system that recognizes environment objects and executes Navigation Among Movable Obstacles. Our continued work in NAMO planning has focused on three topics: reasoning about object interaction, three dimensional manipulation and interaction with constrained objects. This thesis presents the computational and theoretical challenges that arise from these elaborations of the NAMO domain. In each case we introduce extensions to our algorithms that respond to the challenge and evaluate their performance in simulation. All the methods presented in this thesis not only solve previously unsolved problems but also operate efficiently, giving real-time results that can be used during online operation."
| Author | : Jose Antonio Muguira Iturralde |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 2023 |
| Genre | : |
| ISBN | : |
Download Visibility-aware Navigation Among Movable Obstacles Book in PDF, ePub and Kindle
We examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object movability. This new problem formulation lifts the restrictive assumption that the map is fully visible and the object positions are fully known. We provide a formal definition of the VANAMO problem and propose the Look and Manipulate Backchaining (LaMB) algorithm for solving such problems. LaMB has a simple vision-based API that makes it more easily transferable to real-world robot applications and scales to large 3D environments. To evaluate LaMB, we construct a set of tasks that illustrate the complex interplay between visibility and object movability that can arise in mobile base manipulation problems in unknown environments. We show that LaMB out-performs NAMO and visibility-aware motion planning approaches as well as simple combinations of them on complex manipulation problems with partial observability.
| Author | : Matthew T. Mason |
| Publisher | : MIT Press |
| Total Pages | : 282 |
| Release | : 2001-06-08 |
| Genre | : Computers |
| ISBN | : 9780262263740 |
Download Mechanics of Robotic Manipulation Book in PDF, ePub and Kindle
The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
| Author | : Steven James Ratering |
| Publisher | : |
| Total Pages | : 270 |
| Release | : 1992 |
| Genre | : |
| ISBN | : |
Download Goal Directed Robot Navigation in a Known Indoor Environment with Unknown Stationary and Moving Obstacles Book in PDF, ePub and Kindle
| Author | : S.G. Poonambalam |
| Publisher | : Springer |
| Total Pages | : 541 |
| Release | : 2012-11-28 |
| Genre | : Computers |
| ISBN | : 3642351972 |
Download Trends in Intelligent Robotics, Automation, and Manufacturing Book in PDF, ePub and Kindle
This book constitutes the proceedings of the First International Conference on Intelligent Robotics and Manufacturing, IRAM 2012, held in Kuala Lumpur, Malaysia, in November 2012. The 64 revised full papers included in this volume were carefully reviewed and selected from 102 initial submissions. The papers are organized in topical sections named: mobile robots, intelligent autonomous systems, robot vision and robust, autonomous agents, micro, meso and nano-scale automation and assembly, flexible manufacturing systems, CIM and micro-machining, and fabrication techniques.
| Author | : Kikuo Fujimura |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 190 |
| Release | : 2012-12-06 |
| Genre | : Computers |
| ISBN | : 4431681655 |
Download Motion Planning in Dynamic Environments Book in PDF, ePub and Kindle
Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
Download Principles of Robot Motion Book in PDF, ePub and Kindle
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
| Author | : Stephan Chalup |
| Publisher | : Springer Nature |
| Total Pages | : 671 |
| Release | : 2019-11-30 |
| Genre | : Computers |
| ISBN | : 303035699X |
Download RoboCup 2019: Robot World Cup XXIII Book in PDF, ePub and Kindle
This book includes the post-conference proceedings of the 23rd RoboCup International Symposium, held in Sydney, NSW, Australia, in July 2019. The 38 full revised papers and 14 invited papers presented in this book were carefully reviewed and selected from 74 submissions. This book highlights the approaches of champion teams from the competitions and documents the proceedings of the 23rd annual RoboCup International Symposium. Due to the complex research challenges set by the RoboCup initiative, the RoboCup International Symposium offers a unique perspective for exploring scientific and engineering principles underlying advanced robotic and AI systems.
