Abstract
In this paper we describe our initial efforts to develop a knowledge base for motion planning in dynamic environments. Our eventual goal is to smooth the design and integration of multiple heterogeneous robots working in shared environments, and to enable the creation of libraries of plans that can be shared and reused by different robots. We furthermore attempt to align our work with the ongoing activities of the IEEE Ontologies for Robotics and Automation working group.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Protégé (August 2013), http://protege.stanford.edu
Allemang, D., Hendler, J.A.: Semantic web for the working ontologist: effective modeling in RDFS and OWL. Morgan Kaufmann/Elsevier (2011)
Balakirsky, S., Kootbally, Z., Schlenoff, C., Kramer, T., Gupta, S.: An industrial robotic knowledge representation for kit building applications. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1365–1370 (2012)
Balakirsky, S., Kramer, T., Kootbally, Z., Pietromartire, A., Schlenoff, C.: The Industrial Kitting Ontology Version 0.5. White paper. National Institute of Standards and Technology, Gaithersburg (2012)
Bareiss, D., van den Berg, J.: Reciprocal collision avoidance for robots with linear dynamics using LQR-obstacles. In: Proceeding of the IEEE International Conference on Robotics and Automation, pp. 3832–3238 (2013)
Berenson, D., Abbeel, T., Goldberg, K.: A robot path planning framework that learns from experience. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3671–3678 (2012)
Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: USARSim: a robot simulator for research and education. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1400–1405 (2007)
Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L.E., Thrun, S.: Principles of robot motion. MIT Press (2005)
Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. International Journal of Robotics Research 17(7), 760–772 (1998)
Kavraki, L.E., Švestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation 12(4), 566–580 (1996)
LaValle, S.M.: Planning algorithms. Cambridge Academic Press (2006)
LaValle, S.M., Kufner, J.J.: Randomized kinodynamic planning. International Journal of Robotics Research 20(5), 378–400 (2001)
Patil, S., van den Berg, J., Alterowitz, R.: Estimating probability of collision for safe motion planning under gaussian motion and sensing uncertainty. In: Proceeding of the IEEE International Conference on Robotics and Automation (2012)
Schlenoff, C., Prestes, E., Madhavan, R., Goncalves, P., Li, H., Balakirsky, S., Kramer, T., Miguelanez, E.: An IEEE standard ontology for robotics and automation. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1337–1342 (2012)
Schlenoff, C., Washington, R., Barbera, T.: An intelligent ground vehicle ontology for multi-agent system integration. In: Proceedings of the International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS), pp. 169–174 (2005)
Snape, J., van den Berg, J., Guy, S.J., Manocha, D.: The hybrid reciprocal velocity obstacle. IEEE Transaction on Robotics 27(4), 696–706 (2011)
van den Berg, J., Overmars, M.H.: Roadmap-based motion planning in dynamic environments. IEEE Transactions on Robotics 21(5), 885–897 (2005)
van den Berg, J., Wilkie, D., Guy, S.J., Niethammer, M., Manocha, D.: LQG-obstacles: feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. In: Proceeding of the IEEE International Conference on Robotics and Automation, pp. 346–353 (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Feyzabadi, S., Carpin, S. (2014). Knowledge and Data Representation for Motion Planning in Dynamic Environments. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-05582-4_20
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05581-7
Online ISBN: 978-3-319-05582-4
eBook Packages: EngineeringEngineering (R0)