Titlebook: Robotics Research; The 19th Internation Tamim Asfour,Eiichi Yoshida,Oussama Khatib Conference proceedings 2022 The Editor(s) (if applicable

步兵

Fast Reciprocal Collision Avoidance Under Measurement Uncertainty,mples of computational performance and show that, in both 2D and 3D simulations, all agents avoid each other and reach their desired goals in spite of their uncertainty about the locations of other agents.

Assemble

,Taming Combinatorial Challenges in Clutter Removal,truct asymptotically optimal and heuristic algorithms for clutter removal. Employing dynamic programming, our optimal algorithm scales to 40 objects. On the other hand, for random clutter, fast greedy algorithms tend to produce solutions comparable to these generated by the optimal algorithm.

领巾

adumbrate

Corporeal

CLOT

表主动

,Introducing PIVOT: Predictive Incremental Variable Ordering Tactic for Efficient Belief Space Planngly, this tactic can also lead to improved loop-closing efficiency during state inference. We use the approach in an active-SLAM scenario, and demonstrate a significant improvement in efficiency. This approach follows our previous work regarding efficient BSP via belief sparsification.

抗体

Certified Grasping,able grasps of arbitrary planar objects composed as a union of convex polygons, using manipulators described as point-fingers. We validate this approach with simulations and real robot experiments, by grasping random polygons, comparing against other standard grasp planning algorithms, and performing sensorless grasps over different objects.

寻找

Airtight

,Probabilistically Safe Corridors to Guide Sampling-Based Motion Planning, for selecting proper steering direction and adapting steering stepsize. We observe that the proposed local steering procedure generates effective steering motion around complicated regions of configuration spaces, while minimizing collision likelihood.