Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments

Abstract

Adaptation to unorganized, congested and uncertain environment is a desirable capability but challenging task in development of robotic motion planning algorithms for object grasping. We have to make a tradeoff between coping with the environmental complexities using computational expensive approaches, and enforcing practical manipulation and grasping in real-time. In this paper, we present a brief overview and research objectives towards real-time motion planning for grasping in cluttered and uncertain environments. We present feasible ways in approaching this goal, in which key challenges and plausible solutions are discussed.