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Navigation among movable obstacles.

Stilman, Mike.

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Navigation among movable obstacles.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Navigation among movable obstacles./
Author:	Stilman, Mike.
Description:	134 p.
Notes:	Adviser: James J. Kuffner.
Contained By:	Dissertation Abstracts International69-02B.
Subject:	Artificial Intelligence. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302997
ISBN:	9780549491866

Navigation among movable obstacles.
Stilman, Mike.

Navigation among movable obstacles. - 134 p.

Adviser: James J. Kuffner.

Thesis (Ph.D.)--Carnegie Mellon University, 2007.

Robots would be much more useful if they could move obstacles out of the way. Traditional motion planning searches for collision free paths from a start to a goal. However, real world search and rescue, construction, home and nursing home domains contain debris, materials clutter, doors and objects that need to be moved by the robot. Theoretically, one can represent all possible interactions between the robot and movable objects as a huge search. We present methods that simplify the problem and make Navigation Among Movable Obstacles (NAMO) a practical challenge that can be addressed with current computers.

ISBN: 9780549491866Subjects--Topical Terms:

769149
Artificial Intelligence.

Navigation among movable obstacles.
LDR:02621nam 2200301 a 45 001 959021
005 20110704
008 110704s2007 ||||||||||||||||| ||eng d
020 $a 9780549491866
035 $a (UMI)AAI3302997
035 $a AAI3302997
040 $a UMI $c UMI
100 1 $a Stilman, Mike. $3 1282489
245 1 0 $a Navigation among movable obstacles.
300 $a 134 p.
500 $a Adviser: James J. Kuffner.
500 $a Source: Dissertation Abstracts International, Volume: 69-02, Section: B, page: 1304.
502 $a Thesis (Ph.D.)--Carnegie Mellon University, 2007.
520 $a Robots would be much more useful if they could move obstacles out of the way. Traditional motion planning searches for collision free paths from a start to a goal. However, real world search and rescue, construction, home and nursing home domains contain debris, materials clutter, doors and objects that need to be moved by the robot. Theoretically, one can represent all possible interactions between the robot and movable objects as a huge search. We present methods that simplify the problem and make Navigation Among Movable Obstacles (NAMO) a practical challenge that can be addressed with current computers.
520 $a This thesis gives a full development cycle from motion planning to implementation on a humanoid robot. First, we devise a state space decomposition strategy that reasons about free space connectivity to select objects and identify helpful displacements. Second, we present controls for balance and manipulation that allow the robot to move objects with previously unknown dynamics. Finally, we combine these results in a complete system that recognizes environment objects and executes Navigation Among Movable Obstacles.
520 $a Our continued work in NAMO planning has focused on three topics: reasoning about object interaction, three dimensional manipulation and interaction with constrained objects. This thesis presents the computational and theoretical challenges that arise from these elaborations of the NAMO domain. In each case we introduce extensions to our algorithms that respond to the challenge and evaluate their performance in simulation. All the methods presented in this thesis not only solve previously unsolved problems but also operate efficiently, giving real-time results that can be used during online operation.
590 $a School code: 0041.
650 4 $a Artificial Intelligence. $3 769149
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0771
690 $a 0800
710 2 $a Carnegie Mellon University. $3 1018096
773 0 $t Dissertation Abstracts International $g 69-02B.
790 $a 0041
790 1 0 $a Kuffner, James J., $e advisor
791 $a Ph.D.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302997