部分的に未知な環境におけるセンサベースの反応型シンボリックプランニング
Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments
未知の障害物がある環境で、LIDARとグリッパを備えた差動駆動ロボットが受動物体を目標配置に組み立てるため、記号的計画と反応型計画を組み合わせた手法を提案し、形式証明とシミュレーションで検証した。
著者: Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek
分類: cs.RO
原文アブストラクト
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of perceiving its environment only locally, is used to position the passive objects in a desired configuration. The method combines the virtues of a deliberative planner generating high-level, symbolic commands, with the formal guarantees of convergence and obstacle avoidance of a reactive planner that requires little onboard computation and is used online. The validity of the proposed method is verified both with formal proofs and numerical simulations.
