#motionplanning — Public Fediverse posts

Seeing some interesting path tree formations here!

( Variant of #rrt )

#pathplanning #motionplanning #robotics #research

In order to test my motion-planning algorithms some more, I decided to try procedurally generating the arm of the robot, just to see how things would work under varying numbers and arragements of joints.

I then decided to render a quick animation of it.

...it works, but I can't help but think it looks inexplicably disturbing.

#robotics #motionplanning #pathplanning #video #animation #rendering #research

Working to poke some fruit in an apple tree again with a simulated UAV equipped with a robotic arm.

Trying out a new way to visualize paths. In this case, the yellow path indicates a trace of the center of the flying base link, magenta follows the end-effector, with green connecting the two at simultaneous moments.

#robotics #uav #pathplanning #motionplanning #visualization #computerscience

A well-rounded paper on how to translate symbolic statements into actionable constraints for #robotics control and #motionplanning: https://www.frontiersin.org/articles/10.3389/frobt.2023.917637/full

In short: symbolic statements are produced by higher-level decision-making systems (e.g. from a #pddl planner working with #semanticmapping) and given to lower-level actions.

# A fast two-stage approach for multi-goal path planning in a fruit tree

How do you efficiently plan a path for a drone around a fruit tree, and then plan its movements so it reaches into the tree to reach the fruit with a robotic arm? In what order do you do that?

It's my contribution to the 2023 International Conference on Robotics and Automation! #ICRA2023

https://ieeexplore.ieee.org/document/10160281

#conference #academia #publication #robotics #drones #UAV #motionplanning #pathplanning #roboticarm #algorithms #academia #research #ieee #ICRA #orchards #farming #agriculture

First time I encounter #stablediffusion used to perform #motionplanning: https://arxiv.org/pdf/2211.04604.pdf
They also translate natural language instructions #nlp into a set of goals (final poses of the end effector).
Nice #ai work.

Autonomous #robotics are being studied for in- #space assembly missions: https://www.frontiersin.org/articles/10.3389/frobt.2022.995813/full?utm_source=fweb&utm_medium=nblog&utm_campaign=ba-sci-frobt-DesignEngineering-Walking-Robotic-Manipulator-for-In-Space-Assembly-Missions
There is a bit of #ai #planning #motionplanning is involved, and visual servoing seems implied, but it is above all thorough #engineering.

#PDDL #ai applied for #motionplanning of several #robots is shown here:
https://www.researchgate.net/profile/Antony-Thomas-3/publication/363740023_A_Framework_for_Multi-Robot_Task_and_Motion_Planning/links/632c35ee70cc936cd329a826/A-Framework-for-Multi-Robot-Task-and-Motion-Planning.pdf
It can be used for coarser-grained motion planning in semantic maps. In practice a finer motion planner would be needed.

That's the way I'd go, because PDDL also supports logical reasoning.

Boston Dynamics Atlas Dynamic Duo Tackles Obstacle Course - Historically, the capabilities of real world humanoid robots have trailed far behi... - https://hackaday.com/2021/08/17/boston-dynamics-atlas-dynamic-duo-tackles-obstacle-course/ #leggedlocomotion #depthperception #bostondynamics #motionplanning #robotshacks #atlasrobot #perception #parkour #legged #robot

Boston Dynamics Stretch Robot Trades Lab Coat For Work Uniform - Boston Dynamics has always built robots with agility few others could match. While great for attenti... - https://hackaday.com/2021/03/31/boston-dynamics-stretch-robot-trades-lab-coat-for-work-uniform/ #robotmanipulator #depthperception #bostondynamics #motionplanning #cardboardbox #robotshacks #manipulator #warehouse #boxes #box