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This paper presents a kinodynamic multi-step motion planner that aims to investigate the influence and mutual dependencies of different kinematic robot configurations and 3D environments. The planner is able to plan the motion for a defined robot that can move along known docking points placed at walls and ceiling. This planner is based on the available multi-step planner of Bretl [1] and adds extended kinodynamic awareness into the planning process. The robot kinematic and dynamic properties, as well as the environment, can be easily changed and thus allows an investigation on the influence of different designs on the movement capabilities. The focus of the planner is the usage as a design tool that allows to compare different robot properties and their resulting influence on the movement capabilities as well the maximum joint forces/torques for desired movements.
This paper presents a novel approach for representing and maintaining a shared 3D world model for robotic applications. This approach is based on the scene graph concept which has been adapted to the requirements of the robotic domain. A key feature is the temporal and centralized sharing of all available 3D data in the leaves of the graph structure. The approach enables tracking of dynamic objects, incorporates uncertainty and allows for annotations by semantic tags. A demonstration is given for a perception application that exploits the temporal sharing of 3D data. A Region of Interest (ROI) is extracted from the stored scene data in order to accelerate processing cycle times.
