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• W2465952964 abstract "Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot’s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results." @default.
• W2465952964 created "2016-07-22" @default.
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• W2465952964 date "2015-11-28" @default.
• W2465952964 modified "2023-10-02" @default.
• W2465952964 title "A Navigation Agent for Mobile Manipulators" @default.
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• W2465952964 doi "https://doi.org/10.1007/978-3-319-27149-1_58" @default.
• W2465952964 hasPublicationYear "2015" @default.
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