OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Approximate nearest neighbor queries in fixed dimensions
SODA '93 Proceedings of the fourth annual ACM-SIAM Symposium on Discrete algorithms
Graspit!: a versatile simulator for robotic grasping
Graspit!: a versatile simulator for robotic grasping
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Hi-index | 0.00 |
This paper describes a software infrastructure for developing controllers and planners for robotic systems, referred here as PRACSYS . At the core of the software is the abstraction of a dynamical system, which, given a control, propagates its state forward in time. The platform simplifies the development of new controllers and planners and provides an extensible framework that allows complex interactions between one or many controllers, as well as motion planners. For instance, it is possible to compose many control layers over a physical system, to define multi-agent controllers that operate over many systems, to easily switch between different underlying controllers, and plan over controllers to achieve feedback-based planning. Such capabilities are especially useful for the control of hybrid and cyber-physical systems, which are important in many applications. The software is complementary and builds on top of many existing open-source contributions. It allows the use of different libraries as plugins for various modules, such as collision checking, physics-based simulation, visualization, and planning. This paper describes the overall architecture, explains important features and provides use-cases that evaluate aspects of the infrastructure.