Abstract / Description of output
In this work is developed an architectureMastalli, Carloswhich consists of four main components: perception system, tasks planning, motion planner, and control systems that allow autonomous operations in backhoe machines. In the first part is described the architecture of control system. A set of techniques for collision mapping of the scene is described and implemented. Moreover, a motion planning system based on Learning from Demonstration using Dynamic Movement Primitives as control policy is proposed, which allows backhoe machines to perform operations in autonomous manner. AFernández-López, Gerardostatement of reasons is presented, wherein we justified the implementation of such motion system versus planners like backslashtext A^*A∗, Probabilistic RoadMap (PRM), Rapidly-exploring Random Tree (RRT), etc. In addition, we present the performance of the architecture in a simulation environment.
Original language | English |
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Title of host publication | Intelligent Autonomous Systems 13 |
Editors | Emanuele Menegatti, Nathan Michael, Karsten Berns, Hiroaki Yamaguchi |
Place of Publication | Cham |
Publisher | Springer |
Pages | 1549-1559 |
Number of pages | 11 |
ISBN (Electronic) | 978-3-319-08338-4 |
ISBN (Print) | 978-3-319-08337-7 |
DOIs | |
Publication status | Published - 3 Sept 2015 |
Event | 13th International Conference Intelligent Autonomous Systems - Padova, Italy Duration: 15 Jul 2014 → 19 Jul 2014 Conference number: 13 |
Publication series
Name | Advances in Intelligent Systems and Computing |
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Publisher | Springer, Cham |
Volume | 302 |
ISSN (Print) | 2194-5357 |
ISSN (Electronic) | 2194-5365 |
Conference
Conference | 13th International Conference Intelligent Autonomous Systems |
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Abbreviated title | IAS-13 |
Country/Territory | Italy |
City | Padova |
Period | 15/07/14 → 19/07/14 |
Keywords / Materials (for Non-textual outputs)
- Autonomous backhoe machine
- Learning from demonstration
- Dynamic movement primitives
- Perception system