可視性を考慮した可動障害物間ナビゲーション
Visibility-Aware Navigation Among Movable Obstacles
地図や物体位置が完全には見えない環境で、視界の制約を考慮しながら障害物を動かして進むロボットナビゲーション問題(VANAMO)を定式化し、LaMBアルゴリズムを提案した。
著者: Jose Muguira-Iturralde, Aidan Curtis, Yilun Du, Leslie Pack Kaelbling, Tomás Lozano-Pérez
分類: cs.RO
原文アブストラクト
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object movability. This new problem formulation lifts the restrictive assumption that the map is fully visible and the object positions are fully known. We provide a formal definition of the VANAMO problem and propose the Look and Manipulate Backchaining (LaMB) algorithm for solving such problems. LaMB has a simple vision-based API that makes it more easily transferable to real-world robot applications and scales to the large 3D environments. To evaluate LaMB, we construct a set of tasks that illustrate the complex interplay between visibility and object movability that can arise in mobile base manipulation problems in unknown environments. We show that LaMB outperforms NAMO and visibility-aware motion planning approaches as well as simple combinations of them on complex manipulation problems with partial observability.
