行き詰まり時のみユーザーが介入する高次元拘束付き動作計画
Online, interactive user guidance for high-dimensional, constrained motion planning
プランナが進展しなくなったときだけユーザーに中間姿勢を尋ねて誘導する対話型動作計画を提案し、34自由度ヒューマノイドで有効性を示した。
著者: Fahad Islam, Oren Salzman, Maxim Likhachev
分類: cs.RO
原文アブストラクト
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configuration $\hat{q}$, which is used to bias the planner to go through $\hat{q}$. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefully-crafting domain-dependent heuristics.
