scholarly journals Motion Planning and Reconfiguration for Systems of Multiple Objects

10.5772/4788 ◽  
2007 ◽  
Author(s):  
Adrian Dumitrescu
Keyword(s):  
Motion Planning ◽  
Multiple Objects

Representation, learning, and planning algorithms for geometric task and motion planning

2021 ◽  
pp. 027836492110382
Author(s):  
Beomjoon Kim ◽  
Luke Shimanuki ◽  
Leslie Pack Kaelbling ◽  
Tomás Lozano-Pérez
Keyword(s):  
Motion Planning ◽  
Heuristic Search ◽  
Search Algorithm ◽  
Representation Learning ◽  
Multiple Objects ◽  
Hybrid Search ◽  
State Action ◽  
Search Spaces ◽  
Discrete Task ◽  
Data Efficiency

We present a framework for learning to guide geometric task-and-motion planning (G-TAMP). G-TAMP is a subclass of task-and-motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard graph search algorithm is not directly applicable, because G-TAMP problems involve hybrid search spaces and expensive action feasibility checks. To handle this, we introduce a novel planner that extends basic heuristic search with random sampling and a heuristic function that prioritizes feasibility checking on promising state–action pairs. The main drawback of such pure planners is that they lack the ability to learn from planning experience to improve their efficiency. We propose two learning algorithms to address this. The first is an algorithm for learning a rank function that guides the discrete task-level search, and the second is an algorithm for learning a sampler that guides the continuous motion-level search. We propose design principles for designing data-efficient algorithms for learning from planning experience and representations for effective generalization. We evaluate our framework in challenging G-TAMP problems, and show that we can improve both planning and data efficiency.

Stereo modeling of HVEM specimens by serial tilting and computer graphics

1986 ◽  
Vol 44 ◽  
pp. 34-35
Author(s):  
J.R. McIntosh ◽  
D.L. Stemple ◽  
William Bishop ◽  
G.W. Hannaway
Keyword(s):  
Computer Graphics ◽  
Analytical Methods ◽  
Photographic Film ◽  
Complex Structures ◽  
Multiple Objects ◽  
Multiple Images ◽  
3 Dimensional

EM specimens often contain 3-dimensional information that is lost during micrography on a single photographic film. Two images of one specimen at appropriate orientations give a stereo view, but complex structures composed of multiple objects of graded density that superimpose in each projection are often difficult to decipher in stereo. Several analytical methods for 3-D reconstruction from multiple images of a serially tilted specimen are available, but they are all time-consuming and computationally intense.

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning

The interpretation of singular nouns in the scope of an event-distributive quantifier

2019 ◽  
Vol 5 (1) ◽  
pp. 1-9
Author(s):  
Piotr Gulgowski
Keyword(s):  
Present Experiment ◽  
Multiple Objects ◽  
Multiple Events ◽  
Singular Noun ◽  
Distributive Operator

Abstract Singular nouns in the scope of a distributive operator have been shown to be treated as conceptually plural (Patson and Warren, 2010). The source of this conceptual plurality is not fully clear. In particular, it is not known whether the concept of plurality associated with a singular noun originates from distributing over multiple objects or multiple events. In the present experiment, iterative expressions (distribution over events) were contrasted with collective and distributive sentences using a Stroop-like interference technique (Berent, Pinker, Tzelgov, Bibi, and Goldfarb, 2005; Patson and Warren, 2010). A trend in the data suggests that event distributivity does not elicit a plural interpretation of a grammatically singular noun, however the results were not statistically significant. Possible causes of the non-significant results are discussed.

Motion Planning in ROS

2012 ◽  
Author(s):  
Ioan Sucan ◽  
Sachin Chitta
Keyword(s):  
Motion Planning

New Approaches in Randomized Preprocessing for Motion Planning,

1995 ◽  
Author(s):  
Sumanta Guha ◽  
Rama D. Puvvada ◽  
Deepti Suri ◽  
Ichiro Suzuki
Keyword(s):  
Motion Planning ◽  
New Approaches
Sign in / Sign up

Export Citation Format

Share Document