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Hello, my name is Ioan Sucan, I am from the Kavraki lab at Rice University.
And this is my friend Radu Rusu from TUM in germany.
We're here at Willow Garage to demo replanning and perception live
on a PR2 with one arm.
The robot is trying to move it's arm from left to right as has been shown.
While it moves this arm, it uses a Hukuyo Sensor to scan the world around it,
It represents the map as a series of voxels, and it monitors this map live as the arm is moving.
If something changes in the map, there is replanning going on, so the motion is recomputed live.
The controller that executes the trajectory is preempted and a new path is given,
so that the arm never collides with objects that move in the scene.