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Path-Connectivity of the Free Space: Caging and Path Existence
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The notion of configuration space is a tool that allows to reason aboutan object’s mobility in a unified manner. The problem of verifying path non-existence can be considered as dual to path planning. The question here iswhether a body (a robot, a vehicle, or an object) can move between start andgoal configurations without colliding with obstacles. Caging is a notion fromrobotic manipulation that can be seen as a special case of this problem: anobject is caged when it cannot escape arbitrarily far from its initial position.In this thesis, we address the problems of caging and path non-existence indifferent settings. Firstly, we design a theoretical framework and verificationalgorithms for caging of three-dimensional partially-deformable objects withspecific global geometric features that can be described as narrow parts. Sec-ondly, we formulate and address the problem of herding by caging: given agroup of moving agents and a team of mobile robots, the task is to guide theagents to a predefined goal region without letting them escape at any mo-ment of time. Thirdly, we propose an algorithm for efficient approximationof three- and six-dimensional configuration spaces of arbitrary rigid objects.This approximation can be later used to identify caging configurations as wellas to verify path existence between given configurations. Finally, we reportour preliminary results on molecular caging screening. This project buildsupon our previous work on configuration space approximation.

Abstract [sv]

Begreppet konfigurationsrum är ett verktyg som gör det möjligt att motivera rörlighet av ett objekt på ett enhetligt sätt. Problemet med att verifiera icke-existens av möjliga vägar kan betraktas som dualt till vägplanering. Frå-gan vi studerar är om en kropp (en robot, ett fordon eller ett objekt) kan flyttamellan start- och målkonfigurationer utan att kollidera med hinder. Caging ärnett begrepp från robotmanipulation som kan ses som ett speciellt fall av dettaproblem: ett objekt är “caged” när det inte kan komma bort godtyckligt långtfrån sin ursprungliga position. I den här avhandlingen behandlar vi problemen med caging och icke-existens av vägar i olika aspekter. För det första utformar vi en teoretisk ram och verifieringsalgoritmer för caging av tredimensionella partiellt deformerbara objekt med specifika globala geometriska egenskapersom kan beskrivas som smala delar. För det andra formulerar och studerarvi herdingproblemet med hjälp av caging: givet en grupp rörliga agenter ochett team mobila robotar är uppgiften att styra agenterna till en fördefinieradmålregion utan att låta dem fly vid någon tidpunkt. För det tredje föreslår vi en algoritm för effektiv approximering av tre- och sexdimensionella konfigurationsrum av godtyckliga stela objekt. Denna approximation kan senareanvändas för att identifiera caging-konfigurationer såväl som att verifiera ex-istens av vägar mellan givna konfigurationer. Slutligen rapporterar vi vårapreliminära resultat på screening av molekylär caging. Detta projekt byggerpå vårt tidigare arbete med approximering av konfigurationsrum.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2019. , p. 29
Series
TRITA-EECS-AVL ; 2019:30
Keywords [en]
Robotics, Manipulation, Caging
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-247985ISBN: 978-91-7873-146-6 (print)OAI: oai:DiVA.org:kth-247985DiVA, id: diva2:1300916
Public defence
2019-04-24, Kollegiesalen, Brinellvägen 8, Stockholm, 10:00 (English)
Opponent
Supervisors
Available from: 2019-04-02 Created: 2019-04-01 Last updated: 2019-04-02Bibliographically approved
List of papers
1. Caging Grasps of Rigid and Partially Deformable 3-D Objects With Double Fork and Neck Features
Open this publication in new window or tab >>Caging Grasps of Rigid and Partially Deformable 3-D Objects With Double Fork and Neck Features
2016 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 32, no 6, p. 1479-1497Article in journal (Refereed) Published
Abstract [en]

Caging provides an alternative to point-contact-based rigid grasping, relying on reasoning about the global free configuration space of an object under consideration. While substantial progress has been made toward the analysis, verification, and synthesis of cages of polygonal objects in the plane, the use of caging as a tool for manipulating general complex objects in 3-D remains challenging. In this work, we introduce the problem of caging rigid and partially deformable 3-D objects, which exhibit geometric features we call double forks and necks. Our approach is based on the linking number-a classical topological invariant, allowing us to determine sufficient conditions for caging objects with these features even in the case when the object under consideration is partially deformable under a set of neck or double fork preserving deformations. We present synthesis and verification algorithms and demonstrations of applying these algorithms to cage 3-D meshes.

Keywords
Cage, grasping, shape features
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-199500 (URN)10.1109/TRO.2016.2602374 (DOI)000389849700012 ()2-s2.0-85006017877 (Scopus ID)
Note

QC 20170118

Available from: 2017-01-18 Created: 2017-01-09 Last updated: 2019-04-01Bibliographically approved
2. Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots
Open this publication in new window or tab >>Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose a solution to the problem of herding by caging: given a set of mobile robots (called herders) and a group of moving agents (called sheep), we move the latter to some predefined location in such a way that they cannot escape from the robots while moving. We model the interaction between the herders and the sheep by assuming that the former exert virtual “repulsive forces” pushing the sheep away from them. These forces induce a potential field, in which the sheep move in a way that does not increase their potential. This enables the robots to partially control the motion of the sheep. We formalize this behavior geometrically by applying the notion of caging, widely used in robotic grasping. We show that our approach is provably correct in the sense that the sheep cannot escape from the robots. We propose an RRT-based motion planning algorithm, demonstrate its probabilistic completeness, and evaluate it in simulations.

National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-247981 (URN)
Conference
Robotics: Science and Systems
Note

QC 20190521

Available from: 2019-04-01 Created: 2019-04-01 Last updated: 2019-05-21Bibliographically approved
3. Caging and Path Non-Existence: a Deterministic Sampling-Based Verification Algorithm
Open this publication in new window or tab >>Caging and Path Non-Existence: a Deterministic Sampling-Based Verification Algorithm
2017 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-247984 (URN)
Conference
International Symposium on Robotics Research
Note

QC 20190521

Available from: 2019-04-01 Created: 2019-04-01 Last updated: 2019-05-21Bibliographically approved
4. Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
Open this publication in new window or tab >>Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
2018 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-247983 (URN)
Conference
Workshop on Algorithmic Foundations of Robotics
Note

QC 20190521

Available from: 2019-04-01 Created: 2019-04-01 Last updated: 2019-05-21Bibliographically approved

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • de-DE
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Output format
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