FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4376636144> ?p ?o ?g. }

• W4376636144 endingPage "309" @default.
• W4376636144 startingPage "289" @default.
• W4376636144 abstract "We address the problem of robot motion planning under uncertainty where the only observations are through contact with the environment. Such problems are typically solved by planning optimistically assuming unknown space is free, moving along the planned path and re-planning if the robot collides. However this approach can be very inefficient, leading to many unnecessary collisions and unproductive motion. We propose a new formulation, the Blindfolded Traveler’s Problem (BTP), for planning on a graph containing edges with unknown validity, with true validity observed only through attempted traversal by the robot. The solution to a BTP is a policy indicating the next edge to attempt given previous observations and an initial belief. We prove that BTP is NP-complete and show that exact modeling of the belief is intractable, therefore we present several approximation-based policies and beliefs. For the policy we propose graph search with edge weights augmented by the probability of collision. For the belief representation we propose a weighted Mixture of Experts of Collision Hypothesis Sets and a Manifold Particle Filter. Empirical evaluation in simulation and on a real robot arm shows that our proposed approach vastly outperforms several baselines as well as a previous approach that does not employ the BTP framework." @default.
• W4376636144 created "2023-05-17" @default.
• W4376636144 creator A5030267575 @default.
• W4376636144 creator A5053923483 @default.
• W4376636144 creator A5077719529 @default.
• W4376636144 creator A5083082888 @default.
• W4376636144 date "2023-04-01" @default.
• W4376636144 modified "2023-09-30" @default.
• W4376636144 title "The blindfolded traveler’s problem: A search framework for motion planning with contact estimates" @default.
• W4376636144 cites W1485487406 @default.
• W4376636144 cites W1529817735 @default.
• W4376636144 cites W1539216098 @default.
• W4376636144 cites W1941409503 @default.
• W4376636144 cites W2014482607 @default.
• W4376636144 cites W2020135152 @default.
• W4376636144 cites W2031763660 @default.
• W4376636144 cites W2053044028 @default.
• W4376636144 cites W2075060642 @default.
• W4376636144 cites W2080963695 @default.
• W4376636144 cites W2087762674 @default.
• W4376636144 cites W2113489387 @default.
• W4376636144 cites W2128990851 @default.
• W4376636144 cites W2159722616 @default.
• W4376636144 cites W2257979135 @default.
• W4376636144 cites W2293499200 @default.
• W4376636144 cites W2295230057 @default.
• W4376636144 cites W2563186568 @default.
• W4376636144 cites W2760721253 @default.
• W4376636144 cites W2762248135 @default.
• W4376636144 cites W2764278393 @default.
• W4376636144 cites W2775635818 @default.
• W4376636144 cites W2909491791 @default.
• W4376636144 cites W2914156981 @default.
• W4376636144 cites W2963007936 @default.
• W4376636144 cites W2963484401 @default.
• W4376636144 cites W2963554715 @default.
• W4376636144 cites W2963629310 @default.
• W4376636144 cites W2964118380 @default.
• W4376636144 cites W2967114698 @default.
• W4376636144 cites W2967545288 @default.
• W4376636144 cites W3021132920 @default.
• W4376636144 cites W3089464149 @default.
• W4376636144 cites W3131168342 @default.
• W4376636144 cites W3206419935 @default.
• W4376636144 cites W4236251699 @default.
• W4376636144 cites W4252527162 @default.
• W4376636144 doi "https://doi.org/10.1177/02783649231170893" @default.
• W4376636144 hasPublicationYear "2023" @default.
• W4376636144 type Work @default.
• W4376636144 citedByCount "0" @default.
• W4376636144 crossrefType "journal-article" @default.
• W4376636144 hasAuthorship W4376636144A5030267575 @default.
• W4376636144 hasAuthorship W4376636144A5053923483 @default.
• W4376636144 hasAuthorship W4376636144A5077719529 @default.
• W4376636144 hasAuthorship W4376636144A5083082888 @default.
• W4376636144 hasConcept C106131492 @default.
• W4376636144 hasConcept C11413529 @default.
• W4376636144 hasConcept C121704057 @default.
• W4376636144 hasConcept C126255220 @default.
• W4376636144 hasConcept C132525143 @default.
• W4376636144 hasConcept C140745168 @default.
• W4376636144 hasConcept C154945302 @default.
• W4376636144 hasConcept C162307627 @default.
• W4376636144 hasConcept C17744445 @default.
• W4376636144 hasConcept C199539241 @default.
• W4376636144 hasConcept C2776359362 @default.
• W4376636144 hasConcept C31972630 @default.
• W4376636144 hasConcept C33923547 @default.
• W4376636144 hasConcept C38652104 @default.
• W4376636144 hasConcept C41008148 @default.
• W4376636144 hasConcept C52421305 @default.
• W4376636144 hasConcept C80444323 @default.
• W4376636144 hasConcept C81074085 @default.
• W4376636144 hasConcept C90509273 @default.
• W4376636144 hasConcept C94625758 @default.
• W4376636144 hasConcept C96333769 @default.
• W4376636144 hasConceptScore W4376636144C106131492 @default.
• W4376636144 hasConceptScore W4376636144C11413529 @default.
• W4376636144 hasConceptScore W4376636144C121704057 @default.
• W4376636144 hasConceptScore W4376636144C126255220 @default.
• W4376636144 hasConceptScore W4376636144C132525143 @default.
• W4376636144 hasConceptScore W4376636144C140745168 @default.
• W4376636144 hasConceptScore W4376636144C154945302 @default.
• W4376636144 hasConceptScore W4376636144C162307627 @default.
• W4376636144 hasConceptScore W4376636144C17744445 @default.
• W4376636144 hasConceptScore W4376636144C199539241 @default.
• W4376636144 hasConceptScore W4376636144C2776359362 @default.
• W4376636144 hasConceptScore W4376636144C31972630 @default.
• W4376636144 hasConceptScore W4376636144C33923547 @default.
• W4376636144 hasConceptScore W4376636144C38652104 @default.
• W4376636144 hasConceptScore W4376636144C41008148 @default.
• W4376636144 hasConceptScore W4376636144C52421305 @default.
• W4376636144 hasConceptScore W4376636144C80444323 @default.
• W4376636144 hasConceptScore W4376636144C81074085 @default.
• W4376636144 hasConceptScore W4376636144C90509273 @default.
• W4376636144 hasConceptScore W4376636144C94625758 @default.
• W4376636144 hasConceptScore W4376636144C96333769 @default.
• W4376636144 hasFunder F4320306076 @default.

• next