Dogar, MR, Koval, MC, Tallavajhula, A et al. (1 more author) (2014) Object search by manipulation. Autonomous Robots, 36 (1). pp. 153-167. ISSN 0929-5593
Abstract
We investigate the problem of a robot searching for an object. This requires reasoning about both perception and manipulation: some objects are moved because the target may be hidden behind them, while others are moved because they block the manipulator’s access to other objects. We contribute a formulation of the object search by manipulation problem using visibility and accessibility relations between objects. We also propose a greedy algorithm and show that it is optimal under certain conditions. We propose a second algorithm which takes advantage of the structure of the visibility and accessibility relations between objects to quickly generate plans. Our empirical evaluation strongly suggests that our algorithm is optimal under all conditions. We support this claim with a partial proof. Finally, we demonstrate an implementation of both algorithms on a real robot using a real object detection system.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2013 Springer Science+Business Media New York. This is an author produced version of a paper published in Autonomous Robots. The final publication is available at Springer via http://dx.doi.org/10.1007%2Fs10514-013-9372-x. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Robotic manipulation; Manipulation planning; Object search |
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) > Artificial Intelligence & Biological Systems (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 10 May 2016 11:32 |
Last Modified: | 17 Jan 2018 13:45 |
Published Version: | http://dx.doi.org/10.1007/s10514-013-9372-x |
Status: | Published |
Publisher: | Springer Verlag (Germany) |
Identification Number: | 10.1007/s10514-013-9372-x |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:95177 |