Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam,Anirudh Vemula,Sung-Kyun Kim,Andrew Dornbush,Oren Salzman,Maxim Likhachev,Fahad Islam,Anirudh Vemula,Sung-Kyun Kim,Andrew Dornbush,Oren Salzman,Maxim Likhachev
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated mechanisms, an arm and a scooper, (2) decision-making in terms of what action to execute next given imperfect information about boxes such as their masses, (3) accounting...
