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

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

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

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

University of Lincoln

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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 language	English
Title of host publication	Towards Autonomous Robotic Systems
Subtitle of host publication	19th Towards Autonomous Robotic Systems TAROS 2018 Conference
Publisher	Springer
Pages	(in press)
ISBN (Electronic)	978-3-319-96728-8
ISBN (Print)	978-3-319-96727-1
Publication status	Accepted/In press - Jul 2018
Event	19th Towards Autonomous Robotic Systems (TAROS) Conference - University of the West of England, Bristol, United Kingdom Duration: 25 Jul 2018 → 27 Jul 2018 Conference number: 19 http://www.brl.ac.uk/taros2018.aspx

Conference

Conference	19th Towards Autonomous Robotic Systems (TAROS) Conference
Abbreviated title	TAROS 2018
Country/Territory	United Kingdom
City	Bristol
Period	25/07/18 → 27/07/18
Internet address	http://www.brl.ac.uk/taros2018.aspx

Cite this

Towards real-time robotic motion planning for grasping in cluttered and uncertain environments. / Liu, Pengcheng; Elgeneidy, Khaled; Pearson, Simon et al.
Towards Autonomous Robotic Systems: 19th Towards Autonomous Robotic Systems TAROS 2018 Conference. Springer, 2018. p. (in press).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Liu, P, Elgeneidy, K, Pearson, S, Huda, MN & Neumann, G 2018, 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. Springer, pp. (in press), 19th Towards Autonomous Robotic Systems (TAROS) Conference, Bristol, United Kingdom, 25/07/18.

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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.",

author = "Pengcheng Liu and Khaled Elgeneidy and Simon Pearson and Huda, {M. Nazmul} and Gerhard Neumann",

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AU - Pearson, Simon

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AU - Neumann, Gerhard

N1 - Conference code: 19

PY - 2018/7

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N2 - 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.

AB - 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.

M3 - Conference proceeding

SN - 978-3-319-96727-1

SP - (in press)

BT - Towards Autonomous Robotic Systems

PB - Springer

T2 - 19th Towards Autonomous Robotic Systems (TAROS) Conference

Y2 - 25 July 2018 through 27 July 2018

ER -

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

Abstract

Conference

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