2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 2016
DOI: 10.1109/humanoids.2016.7803431
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Reconfigurable tasks in belief-space planning

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Cited by 8 publications
(7 citation statements)
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“…The assembly domain utilizes objects known as ARcubes introduced in (Ruiken et al 2016a). ARcubes are rigid cubes whose size can be adjusted to meet the requirements of the task.…”
Section: A Two-layer Assembly Hierarchymentioning
confidence: 99%
See 1 more Smart Citation
“…The assembly domain utilizes objects known as ARcubes introduced in (Ruiken et al 2016a). ARcubes are rigid cubes whose size can be adjusted to meet the requirements of the task.…”
Section: A Two-layer Assembly Hierarchymentioning
confidence: 99%
“…We use task partitions similar to Ruiken et al (Ruiken et al 2016a) to encode find tasks for the robot at the object level. The belief that hypothesis h belongs to a target task partition c target with goal state s j exceeds belief threshold…”
Section: Object Levelmentioning
confidence: 99%
“…To address the first two sub tasks (finding and orienting the object), we employed the Active Belief Planner (ABP) of (Ruiken et al 2016a). Their algorithm computes the belief over the classes of models C by summing the belief of aspect nodes x ∈ C that satisfy a given specification.…”
Section: Belief Space Planningmentioning
confidence: 99%
“…A robot finds c target , a suitable class of object that contains the aspect necessary for the task. Following (Ruiken et al 2016a), we define the find(c target ) task as follows,…”
Section: Belief Space Planningmentioning
confidence: 99%
“…Interestingly, research has shown that an aspect geometry alone is sufficient in describing a number of complex robotic tasks Ruiken et al (2016a). In particular, object identification and assembly tasks can be reconfigured into a model-referenced belief-space planner.…”
Section: Implications For Task Planningmentioning
confidence: 99%