A Navigation Agent for Mobile Manipulators

Mario Haut; Luis Manso; Daniel Gallego; Mercedes Paoletti; Pablo Bustos; Antonio Bandera; Adrián Romero-Garcés

doi:10.1007/978-3-319-27149-1_58

A Navigation Agent for Mobile Manipulators

Mario Haut, Luis Manso, Daniel Gallego, Mercedes Paoletti, Pablo Bustos, Antonio Bandera, Adrián Romero-Garcés

College of Engineering and Physical Sciences

Research output: Chapter in Book/Published conference output › Conference publication

Abstract

Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot’s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.

Original language	English
Title of host publication	Robot 2015: Second Iberian Robotics Conference
Editors	L. Reis, A. Moreira, P. Lima, L. Montano, V. Muñoz-Martinez
Publisher	Springer
Pages	745-756
ISBN (Electronic)	978-3-319-27149-1
ISBN (Print)	978-3-319-27148-4
DOIs	https://doi.org/10.1007/978-3-319-27149-1_58
Publication status	Published - 28 Nov 2015
Event	Robot 2015: Second Iberian Robotics Conference - Lisbon, Portugal Duration: 19 Nov 2015 → 21 Nov 2015

Conference

Conference	Robot 2015: Second Iberian Robotics Conference
Country/Territory	Portugal
City	Lisbon
Period	19/11/15 → 21/11/15

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10.1007/978-3-319-27149-1_58

Cite this

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title = "A Navigation Agent for Mobile Manipulators",

abstract = "Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot{\textquoteright}s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.",

author = "Mario Haut and Luis Manso and Daniel Gallego and Mercedes Paoletti and Pablo Bustos and Antonio Bandera and Adri{\'a}n Romero-Garc{\'e}s",

year = "2015",

month = nov,

day = "28",

doi = "10.1007/978-3-319-27149-1_58",

language = "English",

isbn = "978-3-319-27148-4",

pages = "745--756",

editor = "L. Reis and A. Moreira and P. Lima and L. Montano and V. Mu{\~n}oz-Martinez",

booktitle = "Robot 2015: Second Iberian Robotics Conference",

publisher = "Springer",

address = "Germany",

note = "Robot 2015: Second Iberian Robotics Conference ; Conference date: 19-11-2015 Through 21-11-2015",

}

Haut, M, Manso, L, Gallego, D, Paoletti, M, Bustos, P, Bandera, A & Romero-Garcés, A 2015, A Navigation Agent for Mobile Manipulators. in L Reis, A Moreira, P Lima, L Montano & V Muñoz-Martinez (eds), Robot 2015: Second Iberian Robotics Conference. Springer, pp. 745-756, Robot 2015: Second Iberian Robotics Conference, Lisbon, Portugal, 19/11/15. https://doi.org/10.1007/978-3-319-27149-1_58

TY - GEN

T1 - A Navigation Agent for Mobile Manipulators

AU - Haut, Mario

AU - Manso, Luis

AU - Gallego, Daniel

AU - Paoletti, Mercedes

AU - Bustos, Pablo

AU - Bandera, Antonio

AU - Romero-Garcés, Adrián

PY - 2015/11/28

Y1 - 2015/11/28

N2 - Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot’s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.

AB - Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot’s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.

UR - https://link.springer.com/chapter/10.1007%2F978-3-319-27149-1_58

U2 - 10.1007/978-3-319-27149-1_58

DO - 10.1007/978-3-319-27149-1_58

M3 - Conference publication

SN - 978-3-319-27148-4

SP - 745

EP - 756

BT - Robot 2015: Second Iberian Robotics Conference

A2 - Reis, L.

A2 - Moreira, A.

A2 - Lima, P.

A2 - Montano, L.

A2 - Muñoz-Martinez, V.

PB - Springer

T2 - Robot 2015: Second Iberian Robotics Conference

Y2 - 19 November 2015 through 21 November 2015

ER -

A Navigation Agent for Mobile Manipulators

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