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Elastic roadmaps—motion generation for autonomous mobile manipulation

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Abstract

The autonomous execution of mobile manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. The task itself imposes constraints, of course, but so do the kinematic and dynamic limitations of the manipulator, unpredictably moving obstacles, and the global connectivity of the workspace. All of these constraints need to be updated continuously in response to sensor feedback. We present the elastic roadmap framework, a novel feedback motion planning approach capable of satisfying all of these motion constraints and their respective feedback requirements. This framework is validated in simulation and real-world experiments using a mobile manipulation platform and a stationary manipulator.

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Authors and Affiliations

  1. Robotics and Biology Laboratory, Department of Computers Science, University of Massachusetts Amherst, 140 Governors Drive, Amherst, MA, 01003, USA

    Yuandong Yang

  2. Robotics and Biology Laboratory, School of Electrical Engineering and Computer Science, Technische Universität Berlin, Einsteinufer 17—EN 10, 10587, Berlin, Germany

    Oliver Brock

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  1. Yuandong Yang
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  2. Oliver Brock
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Correspondence to Oliver Brock.

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Yang, Y., Brock, O. Elastic roadmaps—motion generation for autonomous mobile manipulation. Auton Robot 28, 113–130 (2010). https://doi.org/10.1007/s10514-009-9151-x

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