Randomized path planning on foliated configuration spaces

Jinkyu Kim, Inyoung Ko, Frank C. Park

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

2 Citations (Scopus)

Abstract

This paper presents a randomized planning algorithm for manipulation tasks that require the robot to release an object in different robot configurations. Such problems arise, for example, in robotic suturing and knot tying, and in certain assembly tasks where parts must be guided through cluttered environments. We show that the problem can be posed as one of planning on a foliated manifold. A randomized algorithm that involves sampling and tree propagation in both the robot's task and joint configuration space manifolds is developed. A key component of the algorithm is a path refining phase, in which the topological structure of the foliated manifold is first learned via a sampling and clustering procedure using Gaussian mixtures, and the number of release-regrasp sequences reduced. Comparative case studies evaluating the performance of our algorithm are presented.

Original languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages209-214
Number of pages6
ISBN (Electronic)9781479953325
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 2014 Nov 122014 Nov 15

Publication series

Name2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014

Other

Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Country/TerritoryMalaysia
CityKuala Lumpur
Period14/11/1214/11/15

Keywords

  • foliation
  • path planning
  • rapidly-exploring random tree
  • sampling-based planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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