Interleaving motion in contact and in free space for planning under uncertainty

Interleaving motion in contact and in free space for planning under uncertainty. Sieverling, A., Eppner, C., Wolff, F., & Brock, O. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4011–4073, Vancouver, BC, September, 2017. IEEE.

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In this paper we present a planner that interleaves free-space motion with motion in contact to reduce uncertainty. The planner ﬁnds such motions by growing a search tree in the combined space of collision-free and contact conﬁgurations. The planner reasons efﬁciently about the accumulated uncertainty by factoring the state in a belief over conﬁguration and a fully observable contact state. We show the uncertainty-reducing capabilities of the planner on manipulation benchmark from the POMDP literature. The planner scales up to more complex problems like manipulation under uncertainty in sevendimensional conﬁguration space. We validate our planner in simulation and on a real robot.

@inproceedings{sieverling_interleaving_2017,
	address = {Vancouver, BC},
	title = {Interleaving motion in contact and in free space for planning under uncertainty},
	isbn = {978-1-5386-2682-5},
	url = {http://ieeexplore.ieee.org/document/8206255/},
	doi = {10.1109/IROS.2017.8206255},
	abstract = {In this paper we present a planner that interleaves free-space motion with motion in contact to reduce uncertainty. The planner ﬁnds such motions by growing a search tree in the combined space of collision-free and contact conﬁgurations. The planner reasons efﬁciently about the accumulated uncertainty by factoring the state in a belief over conﬁguration and a fully observable contact state. We show the uncertainty-reducing capabilities of the planner on manipulation benchmark from the POMDP literature. The planner scales up to more complex problems like manipulation under uncertainty in sevendimensional conﬁguration space. We validate our planner in simulation and on a real robot.},
	language = {en},
	urldate = {2018-10-10TZ},
	booktitle = {2017 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
	publisher = {IEEE},
	author = {Sieverling, Arne and Eppner, Clemens and Wolff, Felix and Brock, Oliver},
	month = sep,
	year = {2017},
	pages = {4011--4073}
}

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