Belief Driven Manipulator Control for Integrated Searching and Tracking

Webb, SS; Furukawa, T

Belief Driven Manipulator Control for Integrated Searching and Tracking

Webb, SS Furukawa, T

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 4983 - 4988
Issue Date:: 2006-01

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Field	Value	Language
dc.contributor.author	Webb, SS	en_US
dc.contributor.author	Furukawa, T	en_US
dc.contributor.editor	IEEE	en_US
dc.date	2006-10-09	en_US
dc.date.issued	2006-01	en_US
dc.identifier.citation	Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 4983 - 4988	en_US
dc.identifier.isbn	1-4244-0259-X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16337
dc.description.abstract	This paper presents a feedforward control strategy for a robotic manipulator based on a belief function. The belief about a target's next location, as described by a probability density function, is maintained by a recursive Bayesian process that fuses observations with a target motion model. A sensor model that incorporates positive and negative sensor readings allows the single belief function to be used to deliver both searching and tracking behaviors. Constrained non-linear optimization is used to search configuration space for the control action that maximizes the subsequent probability of detection. To demonstrate application of the technique, a simple example is elaborated for a searching and tracking task with an eye-in-hand sensor	en_US
dc.publisher	IEEE	en_US
dc.relation.ispartof	Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems	en_US
dc.relation.ispartof	IEEE/RSJ International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2006.282523	en_US
dc.rights	© 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.title	Belief Driven Manipulator Control for Integrated Searching and Tracking	en_US
dc.type	Conference Proceeding
utslib.location	Piscataway, USA	en_US
utslib.location.activity	Beijing, China	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Beijing, China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access
pubs.consider-herdc	false	en_US
pubs.place-of-publication	Piscataway, USA	en_US
pubs.start-date	2006-10-09	en_US

Abstract:

This paper presents a feedforward control strategy for a robotic manipulator based on a belief function. The belief about a target's next location, as described by a probability density function, is maintained by a recursive Bayesian process that fuses observations with a target motion model. A sensor model that incorporates positive and negative sensor readings allows the single belief function to be used to deliver both searching and tracking behaviors. Constrained non-linear optimization is used to search configuration space for the control action that maximizes the subsequent probability of detection. To demonstrate application of the technique, a simple example is elaborated for a searching and tracking task with an eye-in-hand sensor

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http://hdl.handle.net/10453/16337