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

Authors:
Radu Bogdan Rusu;Ioan Alexandru Sucan;Brian Gerkey;Sachin Chittaz;Michael Beetzy;Lydia E. Kavraki
Affiliations:
Intelligent Autonomous Systems, Department of Computer Science, Technische Universität München, Germany;Department of Computer Science, Rice University;Willow Garage;Willow Garage;Intelligent Autonomous Systems, Department of Computer Science, Technische Universität München, Germany;Department of Computer Science, Rice University
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

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.