A Compact Representation of Locally-Shortest Paths and its Application to a Human-Robot Interface
The space of all possible paths through a finitedimensional configuration space is infinite-dimensional. Nevertheless, paths taken by “real robotic systems often cluster on a finite-dimensional manifold that is embedded in this infinitedimensional space and that is governed by a principle of optimality. We take advantage of this property to enable a human user to efficiently specify a desired path for a robot moving through a planar workspace with polygonal obstacles using a sequence of noisy binary inputs, as might be derived from a brain-machine interface. First, we show that the space of all such paths having length that is bounded and locally minimal is homeomorphic to the unit disk. Second, we note that any path mapped to the interior of this disk is a subset of some other path mapped to its boundary. Third, we provide an optimal communication protocol by which the user can, with vanishing error probability, select a point on this boundary. Finally, we validate our approach in preliminary experiments with human subjects.
Abdullah Akce Timothy Bretl
Department of Computer Science University of Illinois at Urbana-Champaign,Urbana,IL,61801,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2713-2718
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）