A Quantifiable Stratification Strategy for Tidy-up in Service Robotics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00352482" target="_blank" >RIV/68407700:21230/21:00352482 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ARSO51874.2021.9542842" target="_blank" >https://doi.org/10.1109/ARSO51874.2021.9542842</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ARSO51874.2021.9542842" target="_blank" >10.1109/ARSO51874.2021.9542842</a>
Alternative languages
Result language
angličtina
Original language name
A Quantifiable Stratification Strategy for Tidy-up in Service Robotics
Original language description
This paper addresses the problem of tidying up a living room in a messy condition with a service robot (i.e. domestic mobile manipulator). One of the key issues in completing such a task is how to continuously select the object to grasp and take it to the delivery area, especially when the robot works in constrained and partially observable environments. In this paper, we propose a quantifiable stratification method that allows the robot to find feasible action plans according to different configurations of objects-deposits, in order to smoothly deliver the objects to the target deposits. Specifically, it leverages a finite-state machine obeying the principle of Occam's razor (called O- FSM), which is designed to integrate arbitrary user-defined action plans typically ranging from simple to complex. Instead of considering a sophisticated model for the ever-changing objects-deposits configuration in the tidy-up task, we empower the robot to make simple yet effective decisions based on its current faced configuration under a generalized framework. Through scenario planning and simulation experiments with the explicitly designed test cases based on the real robot and the real competition scene, the effectiveness of our method is illustrated.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts
ISBN
978-1-6654-4953-3
ISSN
2162-7576
e-ISSN
2162-7568
Number of pages
6
Pages from-to
182-187
Publisher name
IEEE Xplore
Place of publication
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Event location
Virtual Conference
Event date
Jul 8, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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