Papallas, R, Cohn, AG orcid.org/0000-0002-7652-8907 and Dogar, MR orcid.org/0000-0002-6896-5461 (2020) Online Replanning With Human-in-the-Loop for Non-Prehensile Manipulation in Clutter — A Trajectory Optimization Based Approach. IEEE Robotics and Automation Letters, 5 (4). pp. 5377-5384. ISSN 2377-3766
Abstract
We are interested in the problem where a number of robots, in parallel, are trying to solve reaching through clutter problems in a simulated warehouse setting. In such a setting, we investigate the performance increase that can be achieved by using a human-in-the-loop providing guidance to robot planners. These manipulation problems are challenging for autonomous planners as they have to search for a solution in a high-dimensional space. In addition, physics simulators suffer from the uncertainty problem where a valid trajectory in simulation can be invalid when executing the trajectory in the real-world. To tackle these problems, we propose an online-replanning method with a human-in-the-loop. This system enables a robot to plan and execute a trajectory autonomously, but also to seek high-level suggestions from a human operator if required at any point during execution. This method aims to minimize the human effort required, thereby increasing the number of robots that can be guided in parallel by a single human operator. We performed experiments in simulation and on a real robot, using an experienced and a novice operator. Our results show a significant increase in performance when using our approach in a simulated warehouse scenario and six robots.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. 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. |
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) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/P019560/1 EU - European Union 746143 EPSRC (Engineering and Physical Sciences Research Council) EP/R031193/1 EU - European Union 825619 |
Depositing User: | Symplectic Publications |
Date Deposited: | 29 Jun 2020 13:51 |
Last Modified: | 26 Aug 2020 05:53 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2020.3006826 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162511 |