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Integrating and evaluating planning primitives for robot manipulation tasks in warehouse logistics
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Psarakis, Zacharias. Integrating and evaluating planning primitives for robot manipulation tasks in warehouse logistics. Retrieved from https://doi.org/doi:10.7282/T36H4MWR

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TitleIntegrating and evaluating planning primitives for robot manipulation tasks in warehouse logistics
NamePsarakis, Zacharias (author); Bekris, Kostas (chair); Yu, Jingjin (internal member); Boularias, Abdeslam (internal member); Rutgers University; School of Graduate Studies
Date Created2018
Other Date2018-05 (degree)
SubjectComputer Science, Warehouses--Management, Robots--Programming
Extent1 online resource (xii, 77 p. : ill.)
DescriptionThe Amazon Robotics Challenge was an event created by Amazon to bring robotics teams together and try to push forward the research on robotics automation related to warehouse logistics. The challenge consists of two tasks. The picking task requires a fully autonomous robotic system to remove target objects from a shelving unit into a tote. The stowing task requires placing objects from a tote into the shelving unit. The purpose of this thesis is to present state-of-the-art approaches related to motion, grasp and task planning, pose estimation solutions, and how different end-effector modalities can affect the performance of the autonomous system. Two grasp planning and three task planning approaches are evaluated and combined with a PRM* motion planner in the context of the Amazon Robotics Challenge tasks.
NoteM.S.
NoteIncludes bibliographical references
Noteby Zacharias Psarakis
Genretheses, ETD graduate
Persistent URLhttps://doi.org/doi:10.7282/T36H4MWR
Languageeng
CollectionSchool of Graduate Studies Electronic Theses and Dissertations
Organization NameRutgers, The State University of New Jersey
RightsThe author owns the copyright to this work.
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