Task-Specific Sensor Planning for Robotic Assembly Tasks

Guy Rosman, Changhyun Choi, Mehmet Dogar, John W. Fisher, Daniela Rus

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

3 Scopus citations

Abstract

When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction with different agents. In this paper we handle this complex problem in a principled, yet efficient way. We use surrogate predictors based on open-loop simulation to estimate and bound the probability of success for specific tasks. We reason about such task-specific uncertainty approximants and their effectiveness. We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2932-2939
Number of pages8
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

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  • Cite this

    Rosman, G., Choi, C., Dogar, M., Fisher, J. W., & Rus, D. (2018). Task-Specific Sensor Planning for Robotic Assembly Tasks. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 2932-2939). [8460194] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460194