ICRA'09 Paper Abstract


Paper FrA4.1

Frank, Barbara (University of Freiburg), Stachniss, Cyrill (University of Freiburg), Schmedding, Ruediger (University of Freiburg), Burgard, Wolfram (University of Freiburg), Teschner, Matthias (University of Freiburg)

Real-world Robot Navigation Amongst Deformable Obstacles

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - I" (FrA4), Friday, May 15, 2009, 08:30−08:50, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Motion and Path Planning, Autonomous Navigation


In this paper, we consider the problem of mobile robots navigating in environments with non-rigid objects. Whereas robots can more effectively plan their paths when they utilize the information about the deformability of objects, they also need to consider the influence of the interaction with the deformable objects on their measurements during the execution of their navigation task. In this paper, we present a probabilistic approach to determine the measurements influenced by the deformable objects. Based on a learned statistics about the influence of the deformable objects on the measurements, the robot is able to perform a sensor-based collision avoidance of unforeseen objects. We present experiments carried out with a real robot that illustrate the practicability of our approach.



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