loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Lluis Trilla and Guillem Alenyà

Affiliation: CSIC-UPC, Spain

ISBN: 978-989-8425-01-0

Keyword(s): Stack planification, Symbolic POMDP, Time-of-flight camera.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Transportation Technologies and Systems ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: A planning framework is proposed for the task of cleaning a table and stack an unknown number of objects of different size on a tray. We propose to divide this problem in two, and combine two different planning algorithms. One, plan hand motions in the Euclidean space to be able to move the hand in a noisy scenario using a novel Time-of-Flight camera (ToF) to perform the perception of the environment. The other one, chooses the strategy to effectively clean the table, considering the symbolic position of the objects, and also its size for stacking considerations. Our formulation does not use information about the number of objects available, and thus is general in this sense. Also, it can deal with different object sizes, planning adequately to stack them. The special definition of the possible actions allows a simple and elegant way of characterizing the problem, and is one of the key ingredients of the proposed solution. Some experiments are provided in simulated and real scenar ios that validate our approach. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.161.118.57

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Trilla L.; Alenyà G. and (2010). PLANNING STACKING OPERATIONS WITH AN UNKNOWN NUMBER OF OBJECTS.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 348-353. DOI: 10.5220/0002883903480353

@conference{icinco10,
author={Lluis Trilla and Guillem Alenyà},
title={PLANNING STACKING OPERATIONS WITH AN UNKNOWN NUMBER OF OBJECTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={348-353},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002883903480353},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PLANNING STACKING OPERATIONS WITH AN UNKNOWN NUMBER OF OBJECTS
SN - 978-989-8425-01-0
AU - Trilla, L.
AU - Alenyà, G.
PY - 2010
SP - 348
EP - 353
DO - 10.5220/0002883903480353

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.