Robotic Cleaning Through Dirt Rearrangement Planning with Learned Transition Models

ICRA, pp. 1623-1630, 2018.

Cited by: 3|Views10
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Abstract:

We address the problem of enabling a manipulator to move arbitrary amounts and configurations of dirt on a surface to a goal region using a cleaning tool. We represent this problem as heuristic search with a set of primitive dirt-oriented tool actions. We present dirt and action representations that allow efficient learning and prediction...More

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