This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators. * The work leading to these results has received funding from the European Communitys Seventh Framework Programme (FP7/2007-2013) under grant agreement n 609206.
Abstract-This paper identifies high-performing OMPL planners, available in MoveIt!, when carrying out several grasp executions with a UR5 manipulator. Simultaneously, this paper presents useful benchmark data. The single-query performance of the planners was measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance.
This paper presents a novel variational formulation to simulate linear free-surface flow. The variational formulation is suitable for higher-order finite elements and higher-order and higher-continuity shape functions as employed in Isogeometric Analysis (IGA).The novel formulation combines the interior and free-surface problems in one monolithic formulation. This leads to exact energy conservation and superior performance in terms of accuracy when compared to a traditional segregated formulation. This is confirmed by the numerical computation of traveling waves in a periodic domain and a three-dimensional sloshing problem. The isogeometric approach shows significant improved performance compared to traditional finite elements. Even on very coarse quadratic NURBS meshes the dispersion error is virtually absent.
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