Algorithmic Foundations of Robotics X: Proceedings of the by Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez,

By Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez, Nicholas Roy, Daniela Rus (eds.)

Algorithms are a primary part of robot platforms. robotic algorithms strategy inputs from sensors that supply noisy and partial information, construct geometric and actual versions of the realm, plan high-and low-level activities at diverse time horizons, and execute those activities on actuators with constrained precision. The layout and research of robotic algorithms elevate a different blend of questions from many elds, together with keep an eye on thought, computational geometry and topology, geometrical and actual modeling, reasoning below uncertainty, probabilistic algorithms, online game idea, and theoretical computing device science.

The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track assembly of prime researchers within the eld of robotic algorithms. considering the fact that its inception in 1994, WAFR has been held any other 12 months, and has supplied one of many greatest venues for the ebook of a few of the eld's most crucial and lasting contributions.

This books comprises the lawsuits of the 10th WAFR, hung on June 13{15 2012 on the Massachusetts Institute of know-how. The 37 papers integrated during this ebook disguise a extensive variety of issues, from primary theoretical concerns in robotic movement making plans, keep an eye on, and notion, to novel applications.

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Extra info for Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics

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Motion models indicating 2D object displacements, P(δ x, δ y|a1ll , c1 ) . . P(δ x, δ y|akll , cm ), indexed by action and object category 4. Cgoal The robot’s goal configuration in the workspace It outputs: 1. A high-level policy π0 indicating which obstacle to move for each free space 2. 1 The NAMO MDP The proposed NAMO MDP has a two-level hierarchy, with navigation between regions as the high-level task, and object manipulation as the low-level task. Here we define both MDPs, and their hierarchical semantics.

Thus, the high-level MDP over free space serves to constrain the set of possible actions (and hence the branching factor), as well as the depth of manipulation plans. We expect that this new perspective on the NAMO problem will generate additional insight into robot planning in human environments. Acknowledgments. This research was supported by NSF grant IIS-1017076. The authors thank Kaushik Subramanian and Jacob Steinhart for many insightful discussions. : Recent advances in hierarchical reinforcement learning.

Sacks, and S. Trac me r m e f f p n e f (a) me e re e f (b) p nf (c) f (d) Fig. 6 Circle/circle (a–c) and circle/line (d) tangencies mg g rg f v e g f v e (a) g f (b) f v g e ve (c) (d) Fig. 7 Circle/circle (a–c) and circle/line (d) hits f+g e+h f+w e+g e+w e h f+h f g w v f+g e+h v+g e+w e+g g w e f h v (a) (b) Fig. 2 Type 2 Criticality A type 2 criticality occurs when two sum edges are tangent (Fig. 6) or when a sum vertex hits a sum edge (Fig. 7). At a tangency, two vertices enter or exit the subdivision.

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