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Questions tagged [planning]

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1
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2answers
84 views

A* search results in path too close to obstacles

I have a configuration space as below with several obstacles. Green circles are all the points I need to go to. Blue line is the path returned from A* search. However, I am looking for path that's ...
1
vote
3answers
56 views

Are there any open-source congnative planing frameworks for robotics?

I have seen a lot of academic papers, but no framework that I can download and use. There are even projects, such as OpenCog, which might be usable in a few years. I would like to know of the ...
2
votes
2answers
650 views

A* algorithm for Arduino robot path planning

Im in the process of getting into robotics. I have decent experience with symbolic AI and am wanting to start off using symbolic AI strategies to give a wheel, arduino based robot some "intelligence". ...
11
votes
0answers
317 views

What is the best way to compute the probabilistic belief of a robot equipped with a vision sensor?

I am trying to implement 'belief space' planning for a robot that has a camera as its main sensor. Similar to SLAM, the robot has a map of 3D points, and it localizes by performing 2D-3D matching with ...
8
votes
1answer
236 views

Understanding and implementing belief space planning

I am currently working on state estimation/navigation for a system with multiple robots. As of now, what I have is each robot localizing itself with a Kalman filter, given vision based measurements. ...
2
votes
2answers
310 views

why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...
6
votes
2answers
513 views

A Vector Field Histogram implementation in Python 2.7

I am trying to implement the Vector Field Histogram as described by Borenstein, Koren, 1991 in Python 2.7 using the SciPy stack. I have already been able to calculate the polar histogram, as ...
1
vote
1answer
64 views

BiRRT: Getting path from an array of 7 DOF angle configurations

I've kind of finished implementing a BiRRT for a 7 DOF arm, using a KD-tree from numpy.spatial in order to get nearest queries. A picture is below: I'm currently having trouble with the fact that it ...
3
votes
1answer
246 views

How to use a POMDP-based planner on top of a probabilistic filter

POMDPs extend MDPs by conceiling state and adding an observation model. A POMDP controller processes either action/observation histories or a bayesian belief state, computed from the observations (...
1
vote
1answer
538 views

Converting a 2D array of bits to a connectivity map (Code Debugging)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects (Boxes in which it has to pot the balls) in it. I have a monochromatic bitmap ...
2
votes
1answer
444 views

How to make a directed graph?

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in ...
2
votes
3answers
2k views

redundant arm path planning and trajectory following

I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow. How do I deal with the redundancy in the arm when planning to follow these trajectories both ...
1
vote
1answer
165 views

Simulator for an adaptive, under-actuated robotic gripper

I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally ...
12
votes
2answers
3k views

What's an efficient way to visit every reachable space on a grid with unknown obstacles?

I'm trying to create a map of the obstacles in a fairly coarse 2D grid space, using exploration. I detect obstacles by attempting to move from one space to an adjacent space, and if that fails then ...
4
votes
5answers
615 views

What is the difference between 4-point and 8-point connectivity in graph based planning?

In graph-based planning (say, A*), states are connected to their neighbors. How should one decide whether to connect to the 4 neighbors or the 8 neighbors? What are the pros and cons of each ...