SEAMLESS - Simultaneous navigation and manipulation in complex dynamic scenes

Title: SEAMLESS - Simultaneous navigation and manipulation in complex dynamic scenes

Authors/ Researchers: Henrik Schumann-Olsen, Marianne Bakken, Øystein Hov Holhjem, Petter Risholm

University/ Department: SINTEF ICT         http://www.sintef.no/en/ict/#/

Abstract: Current robotic manipulators generally operate in a predefined manner in controlled and safeguarded environments which require minimal situational awareness. Developing new methodologies which allow robots to be aware of their dynamic surroundings and react and re-plan in a quick, safe and predictable manner is crucial to exploit the vast number of robotic scenarios where humans and robots are required to work together.

Parallel DRM (PDRM), developed in the strategic project SEAMLESS at SINTEF ICT, is a new global motion planning algorithm. PDRM provides real-time motion plans around dynamic obstacles based on 3D sensor input. The performance is mainly achieved through two design features, pre-processing and parallelization. PDRM exploits extensive offline pre-processing to minimize the need for online collision checking. Further, the algorithm is highly parallelized and exploits the use of a GPU for most of the computation tasks.

Project details: http://www.sintef.no/en/projects/seamless-simultaneous-navigation-and-manipulation-/

Video:  https://www.youtube.com/watch?v=sUp3EL-8xgE

Publications: http://workshops.acin.tuwien.ac.at/clutter2014/papers/ric2014_submission_3.pdf