Uploaded May 2018 | Updated September 2026, 2 weeks ago
ICRA 2018 Spotlight Video
Interactive Session Wed AM Pod E.5
Authors: Rosman, Guy; Choi, Changhyun; Dogar, Mehmet Remzi; Fisher III, John W.; Rus, Daniela
Title: Task-Specific Sensor Planning for Robotic Assembly Tasks
Abstract:
When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction with different agents. In this paper we handle this complex problem in a principled, yet efficient way. We use surrogate predictors based on open-loop simulation to estimate and bound the probability of success for specific tasks. We reason about such task-specific uncertainty approximants and their effectiveness. We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.
ICRA 2018 Spotlight Video
Interactive Session Wed AM Pod E.5
Authors: Rosman, Guy; Choi, Changhyun; Dogar, Mehmet Remzi; Fisher III, John W.; Rus, Daniela
Title: Task-Specific Sensor Planning for Robotic Assembly Tasks
Abstract:
When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction with different agents. In this paper we handle this complex problem in a principled, yet efficient way. We use surrogate predictors based on open-loop simulation to estimate and bound the probability of success for specific tasks. We reason about such task-specific uncertainty approximants and their effectiveness. We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.
