Towards real-time robotic motion planning for grasping in cluttered and uncertain environments

Liu, Pengcheng and Elgeneidy, Khaled and Pearson, Simon and Huda, Nazmul and Neumann, Gerhard (2018) Towards real-time robotic motion planning for grasping in cluttered and uncertain environments. In: 19th Towards Autonomous Robotic Systems (TAROS) Conference, 25th - 27th July 2018, Bristol.

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Abstract

Adaptation to unorganized, congested and uncertain environment is a desirable capability but challenging task in development of robotic motion planning algorithms for object grasping. We have to make a tradeoff between coping with the environmental complexities using computational expensive approaches, and enforcing practical manipulation and grasping in real-time. In this paper, we present a brief overview and research objectives towards real-time motion planning for grasping in cluttered and uncertain environments. We present feasible ways in approaching this goal, in which key challenges and plausible solutions are discussed.

Keywords:Motion planning, Grasping, Cluttered environment, Machine Learning
Subjects:H Engineering > H660 Control Systems
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
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ID Code:31679
Deposited On:17 Apr 2018 11:30

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