Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments
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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.
Lecture Notes in Computer Science;
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.
Dynodwr Gwrthrych Digidol (DOI)https://doi.org/10.1007/978-3-319-96728-8
Short paper published in TAROS 2018, available at https://doi.org/10.1007/978-3-319-96728-8