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IROS
2009
IEEE

Real-time perception-guided motion planning for a personal robot

8 years 12 months ago
Real-time perception-guided motion planning for a personal robot
— This paper presents significant steps towards the online integration of 3D perception and manipulation for personal robotics applications. We propose a modular and distributed architecture, which seamlessly integrates the creation of 3D maps for collision detection and semantic annotations, with a real-time motion replanning framework. To validate our system, we present results obtained during a comprehensive mobile manipulation scenario, which includes the fusion of the above components with a higher level executive.
Radu Bogdan Rusu, Ioan Alexandru Sucan, Brian P. G
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Radu Bogdan Rusu, Ioan Alexandru Sucan, Brian P. Gerkey, Sachin Chitta, Michael Beetz, Lydia E. Kavraki
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