Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifica... more We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configuration q^, which is used to bias the planner to go through q^. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefully-crafted domain-dependent heuristics.
International Journal of Mechanical Engineering and Robotics Research, 2018
Electric wheelchairs are widely used by individuals with various forms of physical disabilities. ... more Electric wheelchairs are widely used by individuals with various forms of physical disabilities. Typically, these wheelchairs are controlled using a steering device (e.g., joysticks). However, for people with limited physical mobility, the incorporation of semi-autonomous navigation and control within electric wheelchairs can considerably improve their mobility and quality of life. In this paper, we present the development of a re-configurable framework and user interfaces for RISE wheelchair, which provide flexibility and customizability depending on the nature of the disability of the users. At the same time, effective navigation and obstacle avoidance capabilities are incorporated using Simultaneous Localization and Mapping (SLAM) that allow the RISE wheelchair to navigate in different environments. A goal estimation algorithm has also developed in order to travel from the current location to the destination with minimal guidance from the user. In this paper, the various aspects of the RISE wheelchair will be discussed, ranging from architectural development, simulation, and practical experimentation to evaluation of the functionality and feasibility of the various modules.
International Journal of Advanced Robotic Systems, 2013
Many sampling based algorithms have been introduced recently. Among them Rapidly Exploring Random... more Many sampling based algorithms have been introduced recently. Among them Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. Although it ensures probabilistic completeness, it cannot guarantee finding the most optimal path. Rapidly Exploring Random Tree Star (RRT*), a recently proposed extension of RRT, claims to achieve convergence towards the optimal solution thus ensuring asymptotic optimality along with probabilistic completeness. However, it has been proven to take an infinite time to do so and with a slow convergence rate. In this paper an extension of RRT*, called as RRT*-Smart, has been prposed to overcome the limitaions of RRT*. The goal of the proposecd method is to accelerate the rate of convergence, in order to reach an optimum or near optimum solution at a much faster rate, thus reducing the execution time. The novel approach of the proposed algorithm makes use of two new techniques in RRT*–Path Optimiz...
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Papers by Fahad Islam