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University of Illinois at Urbana-Champaign
Generating Expected-Time Efficient Trajectories for Rapidly Finding an Object in Known Environments
Abstract
dc:descriptionIn the final version, the robot is no longer a point but a mobile manipulator moving in a 3-D environment. The proposed solution builds on previous results and also introduces a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the base and moving the robotic arm.
Degree
thesis:*- Name thesis:degree_name
- Ph.D.
- Level thesis:degree_level
- Dissertation
- Discipline thesis:degree_discipline
- Computer Science
- Grantor
- University of Illinois at Urbana-Champaign
- Year dc:date
- 2015
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Sarmiento, Alejandro
- Contributors dc:contributor
-
- Hutchinson, Seth A.
Subjects
dc:subject × 1Rights
- Language dc:language
- eng
Identifiers
dc:identifier.*- Identifier
- (MiAaPQ)AAI3160947
- OAI identifier oai:identifier
- oai:www.ideals.illinois.edu:2142/81657