Abstract:We present an approach to navigation planning for humanoid robots that aims to ensure reliable execution by augmenting the planning process to reason about the robot's ability to successfully perceive its environment during operation. By efficiently simulating the robot's perception system during search, our planner generates a metric, the so-called perceptive capability, that quantifies the 'sensability' of the environment in each state given the task to be accomplished. We have applied our method to the prob… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.