A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation

Mobile manipulation tasks in unstructured environments remain challenging for autonomous robots. The need to employ a diverse set of software and hardware components to solve the various subtasks inevitably increases system complexity. Knowledge exchange among such diverse components renders them hi...

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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 9; no. 7; pp. 6680 - 6687
Main Authors:	Sakagami, Ryo, Domel, Andreas, Lehner, Peter, Riedel, Sebastian, Brunner, Sebastian G., Albu-Schaffer, Alin, Stulp, Freek
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Collision avoidance Complexity theory Decision making End effectors Geometric trees Mobile manipulation Motion planning Navigation Robot sensing systems Software architecture software architecture for robotic and automation Task complexity
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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