Real-time perception-guided motion planning for a personal robot

This paper presents significant steps towards the online integration of 3D perception and manipulation for personal robotics applications. We propose a modular and distributed architecture, which seamlessly integrates the creation of 3D maps for collision detection and semantic annotations, with a r...

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Bibliographic Details
Main Authors:	Rusu, R.B., Sucan, I.A., Gerkey, B., Chitta, S., Beetz, M., Kavraki, L.E.
Format:	Conference Proceeding
Language:	eng
Subjects:	Computer science Intelligent robots Intelligent systems Layout Motion planning Real time systems Robot sensing systems Robustness Software safety USA Councils
Online Access:	Request full text
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Summary:	This paper presents significant steps towards the online integration of 3D perception and manipulation for personal robotics applications. We propose a modular and distributed architecture, which seamlessly integrates the creation of 3D maps for collision detection and semantic annotations, with a real-time motion replanning framework. To validate our system, we present results obtained during a comprehensive mobile manipulation scenario, which includes the fusion of the above components with a higher level executive.
ISSN:	2153-0858 2153-0866