Towards real-time robotic motion planning for grasping in cluttered and uncertain environments

Pengcheng Liu, Khaled Elgeneidy, Simon Pearson, M. Nazmul Huda, Gerhard Neumann

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Abstract

Adaptation to unorganized, congested and uncertain environment is a desirable capability but challenging task in development of robotic motion planning algorithms for object grasping. We have to make a tradeoff between coping with the environmental complexities using computational expensive approaches, and enforcing practical manipulation and grasping in real-time. In this paper, we present a brief overview and research objectives towards real-time motion planning for grasping in cluttered and uncertain environments. We present feasible ways in approaching this goal, in which key challenges and plausible solutions are discussed.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication19th Towards Autonomous Robotic Systems TAROS 2018 Conference
PublisherSpringer
Pages(in press)
ISBN (Electronic)978-3-319-96728-8
ISBN (Print)978-3-319-96727-1
Publication statusAccepted/In press - Jul 2018
Event19th Towards Autonomous Robotic Systems (TAROS) Conference - University of the West of England, Bristol, United Kingdom
Duration: 25 Jul 201827 Jul 2018
Conference number: 19
http://www.brl.ac.uk/taros2018.aspx

Conference

Conference19th Towards Autonomous Robotic Systems (TAROS) Conference
Abbreviated titleTAROS 2018
CountryUnited Kingdom
CityBristol
Period25/07/1827/07/18
Internet address

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    Liu, P., Elgeneidy, K., Pearson, S., Huda, M. N., & Neumann, G. (Accepted/In press). Towards real-time robotic motion planning for grasping in cluttered and uncertain environments. In Towards Autonomous Robotic Systems: 19th Towards Autonomous Robotic Systems TAROS 2018 Conference (pp. (in press)). Springer.