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POMDP approach to robotized clothes separation
dc.contributor.author | Monsó Purtí, Pol |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-04-11T11:16:20Z |
dc.date.available | 2013-04-11T11:16:20Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Monsó , P.; Alenyà, G.; Torras, C. POMDP approach to robotized clothes separation. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems". Vilamoura: 2012, p. 1324-1329. |
dc.identifier.uri | http://hdl.handle.net/2117/18767 |
dc.description.abstract | Rigid object manipulation with robots has mainly relied on precise, expensive models and deterministic sequences. Given the great complexity of accurately modeling deformable objects, their manipulation seems to call for a rather different approach. This paper proposes a probabilistic planner, based on a Partially Observable Markov Decision Process (POMDP), targeted at reducing the inherent uncertainty of deformable object sorting. It is shown that a small set of unreliable actions and inaccurate perceptions suffices to accomplish the task, provided faithful statistics on both of them are collected beforehand. The planner has been applied to a clothes sorting task in a real case context with a depth and color sensor and a robotic arm. Experimental results show the promise of the approach since more than 95% certainty of having isolated a piece of clothing is reached in an average of four steps for quite entangled initial clothing configurations. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial artificial |
dc.subject.lcsh | Artificial intelligence |
dc.subject.lcsh | Planning |
dc.subject.lcsh | Uncertainty (Information theory) |
dc.subject.other | planning (artificial intelligence) uncertainty handling |
dc.title | POMDP approach to robotized clothes separation |
dc.type | Conference report |
dc.subject.lemac | Intel·ligència artificial |
dc.subject.lemac | Planificació |
dc.subject.lemac | Incertitud (Teoria de la informació) |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/IROS.2012.6386011 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Cybernetics::Artificial intelligence::Planning (artificial intelligence) |
dc.subject.inspec | Classificació INSPEC::Cybernetics::Artificial intelligence::Uncertainty handling |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2012.6386011 |
dc.rights.access | Open Access |
local.identifier.drac | 11216177 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT |
local.citation.author | Monsó , P.; Alenyà, G.; Torras, C. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Vilamoura |
local.citation.publicationName | Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 1324 |
local.citation.endingPage | 1329 |