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Sensor Integration and Task Planning for Mobile Manipulation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2004 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Robotic mobile manipulation in unstructured environments requires integration of a number of key reasearch areas such as localization, navigation, object recognition, visual tracking/servoing, grasping and object manipulation. It has been demonstrated that, given the above, and through simple sequencing of basic skills, a robust system can be designed, [19]. In order to provide the robustness and flexibility required of the overall robotic system in unstructured and dynamic everyday environments, it is important to consider a wide range of individual skills using different sensory modalities. In this work, we consider a combination of deliberative and reactive control together with the use of multiple sensory modalities for modeling and execution of manipulation tasks. Special consideration is given to the design of a vision system necessary for object recognition and scene segmentation as well as learning principles in terms of grasping.

Place, publisher, year, edition, pages
2004.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-82582OAI: oai:DiVA.org:kth-82582DiVA: diva2:498389
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004
Note

QC 20150421

Available from: 2012-02-12 Created: 2012-02-12 Last updated: 2015-04-21Bibliographically approved

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Kragic, DanicaJensfelt, Patric

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Kragic, DanicaEkvall, StaffanJensfelt, PatricAarno, Daniel
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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