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Towards harmonization and refactoring of mobile manipulation algorithms

  • In this paper we present work towards the benchmarking of mobile manipulation algorithms. We review the current state-of-the art in mobile manipulation and analyze the most prominent algorithms concerning common structures and sub-components. We propose and implement harmonized interfaces for those components, building upon existing software frameworks and libraries. The foundation on the same subcomponents makes it possible to evaluate mobile manipulation planning algorithms in a systematic way. In particular it enables us to investigate on the influence of different combinations of sub-components for the overall planning task, for which we present experiments in simulation.

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Document Type:Conference Object
Author:Edmund Milke, Stefan Christen, Erwin Prassler, Walter Nowak
Parent Title (English):ICAR 2009. International Conference on Advanced Robotics, 2009. Munich, 22-26 June 2009
First Page:1
Last Page:8
Publication year:2009
Tag:Algorithm design and analysis; Art; Benchmarking; Best practice algorithms; Computer science; Manipulators; Mobile computing; Mobile manipulation; Mobile robots; Motion planning; Robot sensing systems; Robotics; Software libraries; interfaces harmonization; mobile manipulation planning algorithms; path planning; refactoring; software frameworks
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2015/04/02