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

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Author
Liu, Pengcheng
ElGeneidy, Khaled
Pearson, Simon
Huda, M.N.
Neumann, Gerhard
Date
2018Acceptance date
2018
Type
Conference paper
Publisher
Springer
ISSN
0302-9743
1611-3349
Metadata
Show full item recordAbstract
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.
Journal/conference proceeding
Lecture Notes in Computer Science;
Citation
Liu, P., ElGeneidy, K., Pearson, S., Huda, M.N. and Neumann, G., 2018, July. Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments. In Towards Autonomous Robotic Systems: 19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018, Proceedings (Vol. 10965, p. 481-483). Springer.
Description
Short paper published in TAROS 2018, available at https://doi.org/10.1007/978-3-319-96728-8