Task-Specific Sensor Planning for Robotic Assembly Tasks

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

doi:10.1109/ICRA.2018.8460194

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 proceeding › Conference 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 language	English (US)
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2932-2939
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460194
State	Published - Sep 10 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: May 21 2018 → May 25 2018

Publication series

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

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

Access

10.1109/ICRA.2018.8460194

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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

Task-Specific Sensor Planning for Robotic Assembly Tasks. / Rosman, Guy; Choi, Changhyun; Dogar, Mehmet; Fisher, John W.; Rus, Daniela.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2932-2939 8460194 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rosman, G, Choi, C, Dogar, M, Fisher, JW & Rus, D 2018, Task-Specific Sensor Planning for Robotic Assembly Tasks. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460194, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 2932-2939, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460194

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

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