2017/09/16 by Vasileios Vasilopoulos, Vasilopoulos, Vasileios, William Vega-Brown +7
Computer Science · #AI-based Problem Solving and Planning #Artificial Intelligence in Games #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1709.05474
openalex publication_date 2017/09/16 · openalex created_date 2018/02/23 · openalex updated_date 2026/07/28
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of perceiving its environment only locally, is used to position the passive objects in a desired configuration. The method combines the virtues of a deliberative planner generating high-level, symbolic commands, with the formal guarantees of convergence and obstacle avoidance of a reactive planner that requires little onboard computation and is used online. The validity of the proposed method is verified both with formal proofs and numerical simulations.