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Abstract: We consider the problem of determining robot manipulation plans when sensing and control uncertainties are specified as conditional probability densities. Traditional approaches are usually based on worst-case error analysis in a methodology known as preimage backchaining. We have developed a general framework for determining sensor-based robot plans by blending ideas from stochastic optimal control and dynamic game theory with traditional preimage backchaining concepts. We argue that the... (Update)
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BibTeX entry: (Update)
S. M. LaValle and S. A. Hutchinson. An objective-based stochastic framework for manipulation planning. In Proc. IEEE/RSJ/GI Int'l Conf. on Intelligent Robots and Systems, pages 1772--1779, September 1994. http://citeseer.ist.psu.edu/lavalle94objectivebased.html More
@misc{ lavalle94objectivebased,
author = "S. LaValle and S. Hutchinson",
title = "An objective-based stochastic framework for manipulation planning",
text = "S. M. LaValle and S. A. Hutchinson. An objective-based stochastic framework
for manipulation planning. In Proc. IEEE/RSJ/GI Int'l Conf. on Intelligent
Robots and Systems, pages 1772--1779, September 1994.",
year = "1994",
url = "citeseer.ist.psu.edu/lavalle94objectivebased.html" }
Citations (may not include all citations):625 Kluwer Academic Publishers (context) - Latombe, Planning - 1991
170 Dynamic Noncooperative Game Theory (context) - Basar, Olsder - 1982
49 A Monte-Carlo algorithm for path planning with many degrees .. (context) - Barraquand, Latombe - 1990
37 Force feedback control of manipulator fine motions (context) - Whitney - 1977
30 On motion planning with uncertainty (context) - Erdmann - 1984
30 Controlled diffusion processes (context) - Krylov - 1980
29 Sensorbased manipulation planning as a game with nature (context) - Taylor, Mason et al. - 1987
27 Stochastic Plans for Robotic Manipulation (context) - Goldberg - 1990
23 Robot motion planning with uncertainty in control and sensin.. (context) - Latombe, Lazanas et al. - 1991
22 Sensor interpretation and task-directed planning using perce.. (context) - Donald, Jennings - 1991
21 Randomization in robot tasks (context) - Erdmann - 1992
20 Stochastic Systems (context) - Kumar, Varaiya - 1986
8 Automatic systhesis of fine-motion strategies for robots (context) - Lozano-P'erez, Mason et al. - 1984
7 Probabilistic analysis of manipulation tasks: A research age.. (context) - Brost, Christiansen - 1993
4 Path selection and coordination of multiple robots via Nash .. - LaValle, Hutchinson - 1994
3 Game theory as a unifying structure for a variety of robot t.. - LaValle, Hutchinson - 1993
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