ICRA 2015poster75 citations
Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states
Joshua A. Haustein, Jennifer King, Siddhartha S. Srinivasa, Tamim Asfour
Abstract
In this work we present a fast kinodynamic RRT-planner that uses dynamic nonprehensile actions to rearrange cluttered environments. In contrast to many previous works, the presented planner is not restricted to quasi-static interactions and monotonicity. Instead the results of dynamic robot actions are predicted using a black box physics model. Given a general set of primitive actions and a physics model, the planner randomly explores the configuration space of the environment to find a sequence of actions that transform the environment into some goal configuration.
BibTeX
@inproceedings{icra2015_kinodynamicrando,
title = {Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states},
author = {Joshua A. Haustein and Jennifer King and Siddhartha S. Srinivasa and Tamim Asfour},
booktitle = {ICRA 2015},
year = {2015}
}