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BiSpace Planning: Concurrent Multi-Space Exploration
Open accessAbstract
We present a planning algorithm called BiSpace that produces fast plans to complex high-dimensional problems by simultaneously exploring multiple spaces.We specifically focus on finding robust solutions to manipulation and grasp planning problems by using BiSpace's special characteristics to explore the work and configuration spaces of the environment and robot.Furthermore, we present a number of techniques for constructing informed heuristics to intelligently search through these highdimensional spaces.In general, the BiSpace planner is applicable to any problem involving multiple search spaces.
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The dynamical systems approach to encoding motion from demonstrations enables rapid and reactive adaptation of the arm motion in the presence of sensor uncertainty.
“We use the dynamical systems approach to encode motion from several demonstrations. This enables a rapid and reactive adaptation of the arm motion in the presence of sensor uncertainty.”
From Catching Objects in Flight (2014) · cites this paper as [14]
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Kim, S., Shukla, A., & Billard, A. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2014.2316022 · Cited by 220
Metadata
- Authors
- Diankov, R., Ratliff, N., Ferguson, D., Srinivasa, S., & Kuffner, J.
- Affiliations
- Carnegie Mellon University (US)
- Intel (United States) (US)
- Venue
- Robotics: Science and Systems IV
- Published
- 2008-06-25
- OpenAlex
- W143844323
- Cited by
- 89
- References
- 0
- Citations by year
- 2021: 2 · 2020: 2 · 2019: 7 · 2018: 4 · 2017: 4 · 2016: 4 · 2015: 7 · 2014: 6 · 2013: 6 · 2012: 12
- FWCI
- 9.34
- Type
- conference paper
- Language
- en
- Open access
- bronze
- doi.org
- Locations
- Robotics: Science and Systems (publishedVersion)
- KiltHub Repository (submittedVersion)
- Figshare (submittedVersion, cc-by)
- KiltHub Repository
- Funders
- National Science Foundation (0540865)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Computer Science › Artificial Intelligence › AI-based Problem Solving and Planning
- Keywords
- manipulation planning, grasp planning, workspace, configuration space, robot motion planning
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