Rosman, G, Choi, C, Dogar, M orcid.org/0000-0002-6896-5461 et al. (2 more authors) (2018) Task-Specific Sensor Planning for Robotic Assembly Tasks. In: Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA). 2018 IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, QLD, Australia. IEEE , pp. 2932-2939. ISBN 978-1-5386-3081-5
Abstract
When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction with different agents. In this paper we handle this complex problem in a principled, yet efficient way. We use surrogate predictors based on open-loop simulation to estimate and bound the probability of success for specific tasks. We reason about such task-specific uncertainty approximants and their effectiveness. We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. This is an author produced version of a paper published in Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA). Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Robot sensing systems; Task analysis; Uncertainty; Planning; Robotic assembly; Estimation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Mar 2018 12:12 |
Last Modified: | 03 May 2019 11:22 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ICRA.2018.8460194 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:128256 |