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.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Radu Bogdan Rusu, Ioan Alexandru Sucan, Brian P. Gerkey, Sachin Chitta, Michael Beetz, Lydia E. Kavraki
• Keywords: IROS 2009, Mobile Manipulation Scenario, Motion Replanning Framework, Personal Robotics Applications, Robotics