A compact representation of locally-shortest paths and its application to a human-robot interface

Abdullah Akce, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The space of all possible paths through a finite-dimensional configuration space is infinite-dimensional. Nevertheless, paths taken by "real" robotic systems often cluster on a finite-dimensional manifold that is embedded in this infinite-dimensional space and that is governed by a principle of optimality. We take advantage of this property to enable a human user to efficiently specify a desired path for a robot moving through a planar workspace with polygonal obstacles using a sequence of noisy binary inputs, as might be derived from a brain-machine interface. First, we show that the space of all such paths having length that is bounded and locally minimal is homeomorphic to the unit disk. Second, we note that any path mapped to the interior of this disk is a subset of some other path mapped to its boundary. Third, we provide an optimal communication protocol by which the user can, with vanishing error probability, select a point on this boundary. Finally, we validate our approach in preliminary experiments with human subjects.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages2713-2718
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Akce, A., & Bretl, T. (2011). A compact representation of locally-shortest paths and its application to a human-robot interface. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2713-2718). [5980418] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980418