TY - GEN
T1 - A motion planning strategy for rapidly finding an object with a mobile manipulator in 3-D environments
AU - Sarmiento, Alejandro
AU - Espinoza, Judith
AU - Murrieta-Cid, Rafael
AU - Hutchinson, Seth
PY - 2008
Y1 - 2008
N2 - In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an "eye-in-hand" sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time until the object is first seen when following the route. We use a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the manipulator base and moving the robotic arm.
AB - In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an "eye-in-hand" sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time until the object is first seen when following the route. We use a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the manipulator base and moving the robotic arm.
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U2 - 10.1007/978-3-540-88636-554
DO - 10.1007/978-3-540-88636-554
M3 - Conference contribution
AN - SCOPUS:57049121632
SN - 3540886354
SN - 9783540886358
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 562
EP - 572
BT - MICAI 2008
T2 - 7th Mexican International Conference on Artificial Intelligence, MICAI 2008
Y2 - 27 October 2008 through 31 October 2008
ER -