Abstract
In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an “eye-in-hand” sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time until the object is first seen when following the route. We use a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the manipulator base and moving the robotic arm.
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© 2008 Springer-Verlag Berlin Heidelberg
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Sarmiento, A., Espinoza, J., Murrieta-Cid, R., Hutchinson, S. (2008). A Motion Planning Strategy for Rapidly Finding an Object with a Mobile Manipulator in 3-D Environments. In: Gelbukh, A., Morales, E.F. (eds) MICAI 2008: Advances in Artificial Intelligence. MICAI 2008. Lecture Notes in Computer Science(), vol 5317. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88636-5_54
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DOI: https://doi.org/10.1007/978-3-540-88636-5_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88635-8
Online ISBN: 978-3-540-88636-5
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