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Lazy evaluation of goal specifications guided by motion planning

Hernández, Juan David, Moll, Mark and Kavraki, Lydia E. 2019. Lazy evaluation of goal specifications guided by motion planning. Presented at: IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20-24 May 2019. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 944-950. 10.1109/ICRA.2019.8793570

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Nowadays robotic systems are expected to share workspaces and collaborate with humans. In such collaborative environments, an important challenge is to ground or establish the correct semantic interpretation of a human request. Once such an interpretation is available, the request must be translated into robot motion commands in order to complete the desired task. It is not unusual that a human request cannot be grounded to a unique interpretation, thus leading to an ambiguous request. A simple example is to ask a robot to “put a cup on the table,” when there are multiple cups available. In order to deal with this kind of ambiguous request, we propose a delayed or lazy variable grounding. The focus of this paper is a motion planning algorithm that, given goal regions that represent different valid groundings, lazily finds a feasible path to any one valid grounding. This algorithm includes a reward-penalty strategy, which attempts to prioritize those goal regions that seem more promising to provide a solution. We validate our approach by solving requests with multiple valid alternatives in both simulation and real-world experiments.

Item Type: Conference or Workshop Item (Paper)
Date Type: Published Online
Status: Published
Schools: Engineering
Additional Information: "© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."
Publisher: IEEE
ISBN: 9781538660270
Related URLs:
Date of First Compliant Deposit: 2 February 2021
Last Modified: 12 Feb 2021 14:00

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