Conference Papers
Snehal Jauhri, Sophie Lueth and Georgia Chalvatzaki. Active-Perceptive Motion Generation for Mobile Manipulation. International Conference on Robotics and Automation (ICRA), 2024.
We introduce an active perception pipeline for mobile manipulators to generate motions that are informative toward manipulation tasks, such as grasping in unknown, cluttered scenes. Our proposed approach, ActPerMoMa, generates robot paths in a receding horizon fashion by sampling paths and computing path-wise utilities. These utilities trade-off maximizing the visual Information Gain (IG) for scene reconstruction and the task-oriented objective, e.g., grasp success, by maximizing grasp reachability.
Journals
Coming soon… ;)
Workshop Papers
Sophie Lueth, Snehal Jauhri and Georgia Chalvatzaki. Looking Good: Visually Informative Motion Generation for Mobile Manipulation. Workshop on Taking Mobile Manipulators into the Real World for Robotics, Science and Systems (RSS), 2023.
In this work, we propose an active perception pipeline for mobile manipulators to generate motions that are informative toward manipulation tasks such as grasping. Our proposed approach moves the robot’s mobile base in a scene in a way that incorporates both visual information gain and task success in a time and energy-efficient manner.