Error Detection and Recovery for Robot Motion Planning with Uncertainty

Title: en_US Error Detection and Recovery for Robot Motion Planning with Uncertainty
Creator: en_US Donald, Bruce Randall
Date: 2004-10-20T20:02:29Z
Date Available: 2004-10-20T20:02:29Z
Date Issued: en_US 1987-07-01
Identifier: en_US AITR-982
uri: http://hdl.handle.net/1721.1/6851
Abstract: en_US Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has received little previous attention. We present a framework for computing motion strategies that are guaranteed to succeed in the presence of all three kinds of uncertainty. The motion strategies comprise sensor-based gross motions, compliant motions, and simple pushing motions.
Extent: en_US 310 p.; 44428054 bytes; 35921531 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-982
Subject: en_US robotics; en_US motion planning; en_US uncertainty; en_US error detection andsrecovery; en_US computational geometry; en_US geometric reasoning; en_US planning withsuncertainty; en_US model error; en_US EDR; en_US failure mode analysis