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Compact Representations for Efficien...

Dobson, Andrew.

Compact Representations for Efficient Robot Motion Planning with Formal Guarantees.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Compact Representations for Efficient Robot Motion Planning with Formal Guarantees./
Author:	Dobson, Andrew.
Description:	1 online resource (172 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 79-08(E), Section: B.
Subject:	Computer science. -
Online resource:	click for full text (PQDT)
ISBN:	9780355780901

Compact Representations for Efficient Robot Motion Planning with Formal Guarantees.
Dobson, Andrew.

Compact Representations for Efficient Robot Motion Planning with Formal Guarantees. - 1 online resource (172 pages)

Source: Dissertation Abstracts International, Volume: 79-08(E), Section: B.

Thesis (Ph.D.)--Rutgers The State University of New Jersey - New Brunswick, 2017.

Includes bibliographical references

This work provides compact representations for single- and multi-robot motion planning in the context of prehensile robot manipulation. This work describes the asymptotic near-optimality and probabilistic near-optimality properties of these planners. Probabilistic near-optimality is leveraged to provide practical and grounded stopping criteria for these methods which probabilistically guarantee the methods return high-quality paths. It is also shown how these methods can be leveraged to produce a compact planning representation, which is a lightweight structure that is quick to query and easy to store. The work also outlines a compact representation for solving multi-arm manipulation tasks, and integrates a scalable, asymptotically optimal multi-robot motion planning method to provide scalable, globally asymptotically optimal task and motion planning in manipulation domains.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355780901Subjects--Topical Terms:

573171
Computer science.
Index Terms--Genre/Form:

554714
Electronic books.

Compact Representations for Efficient Robot Motion Planning with Formal Guarantees.
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245 1 0 $a Compact Representations for Efficient Robot Motion Planning with Formal Guarantees.
264 0 $c 2017
300 $a 1 online resource (172 pages)
336 $a text $b txt $2 rdacontent
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500 $a Source: Dissertation Abstracts International, Volume: 79-08(E), Section: B.
500 $a Adviser: Kostas E. Bekris.
502 $a Thesis (Ph.D.)--Rutgers The State University of New Jersey - New Brunswick, 2017.
504 $a Includes bibliographical references
520 $a This work provides compact representations for single- and multi-robot motion planning in the context of prehensile robot manipulation. This work describes the asymptotic near-optimality and probabilistic near-optimality properties of these planners. Probabilistic near-optimality is leveraged to provide practical and grounded stopping criteria for these methods which probabilistically guarantee the methods return high-quality paths. It is also shown how these methods can be leveraged to produce a compact planning representation, which is a lightweight structure that is quick to query and easy to store. The work also outlines a compact representation for solving multi-arm manipulation tasks, and integrates a scalable, asymptotically optimal multi-robot motion planning method to provide scalable, globally asymptotically optimal task and motion planning in manipulation domains.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Computer science. $3 573171
655 7 $a Electronic books. $2 local $3 554714
690 $a 0984
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a Rutgers The State University of New Jersey - New Brunswick. $b School of Graduate Studies. $3 1148713
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10799896 $z click for full text (PQDT)

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