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Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments

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conference contribution
posted on 28.04.2022, 13:09 authored by Pengcheng Liu, Khaled ElGeneidy, Simon Pearson, Nazmul Huda, Gerhard Neumann

Adaptation to unorganized, congested and uncertain environment is a desirable capability but challenging task in development of robotic motion planning algorithms for object grasping. We have to make a tradeoff between coping with the environmental complexities using computational expensive approaches, and enforcing practical manipulation and grasping in real-time. In this paper, we present a brief overview and research objectives towards real-time motion planning for grasping in cluttered and uncertain environments. We present feasible ways in approaching this goal, in which key challenges and plausible solutions are discussed. 

History

Presented at

Towards Autonomous Robotic Systems: 19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018,

Published in

Towards Autonomous Robotic Systems: 19th Annual Conference, TAROS 2018. Lecture Notes in Computer Science

Publisher

Springer

Version

AM (Accepted Manuscript)

Citation

Liu, P., ElGeneidy, K., Pearson, S., Huda, M.N. and Neumann, G., 2018, July. Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments. In Towards Autonomous Robotic Systems: 19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018, Proceedings (Vol. 10965, p. 481-483). Springer.

Print ISSN

0302-9743

Electronic ISSN

1611-3349

ISBN

978-3-319-96728-8

Cardiff Met Affiliation

  • Cardiff School of Technologies

Cardiff Met Authors

Pengcheng Liu

Copyright Holder

© The Publisher

Language

en