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We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task.
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A. Iriondo, E. Lazkano, L. Susperregi, J. Urain, A. Fernandez, and J. Molina, “Pick and place operations in logistics using a mobile manipulator controlled with deep reinforcement learning,” Applied Sciences , vol. 9, no. 2, p. 348, 2019
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M. Spahn, B. Brito, and J. Alonso-Mora, “Coupled mobile manipulation via trajectory optimization with free space decomposition,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 12 759–12 765
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S. Zimmermann, R. Poranne, and S. Coros, “Go fetch!-dynamic grasps using Boston Dynamics Spot with external robotic arm,” in 2021 IEEE International Conference on Robotics and Automation . IEEE, 2021, pp. 4488–4494
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J. Haviland and P. Corke, “Neo: A novel expeditious optimisation algorithm for reactive motion control of manipulators,” IEEE Robotics and Automation Letters , vol. 6, no. 2, pp. 1043–1050, 2021
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2022
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R. Colombo, F. Gennari, V. Annem, P. Rajendran, S. Thakar, L. Bascetta, and S. K. Gupta, “Parameterized model predictive control of a nonholonomic mobile manipulator: A terminal constraint-free approach,” in 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) . IEEE, 2019, pp. 1437–1442
2019
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R. Luna, M. Moll, J. Badger, and L. E. Kavraki, “A scalable motion planner for high-dimensional kinematic systems,” The International Journal of Robotics Research , vol. 39, no. 4, pp. 361–388, 2020
2020
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P. Arora and C. Papachristos, “Mobile manipulator robot visual servoing and guidance for dynamic target grasping,” in International Symposium on Visual Computing . Springer, 2020, pp. 223–235
2020
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S. Thakar, P. Rajendran, A. M. Kabir, and S. K. Gupta, “Manipulator motion planning for part pickup and transport operations from a moving base,” IEEE Transactions on Automation Science and Engineering , 2020
2020
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P. Štibinger, G. Broughton, F. Majer, Z. Rozsypálek, A. Wang, K. Jindal, A. Zhou, D. Thakur, G. Loianno, T. Krajník et al. , “Mobile manipulator for autonomous localization, grasping and precise placement of construction material in a semi-structured environment,” IEEE Robotics and Automation Letters , vol. 6, no. 2, pp. 2595–2602, 2021
2021
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B. Kulecki, K. Młodzikowski, R. Staszak, and D. Belter, “Practical aspects of detection and grasping objects by a mobile manipulating robot,” Industrial Robot: the international journal of robotics research and application , 2021
2021
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J. Shao, H. Xiong, J. Liao, W. Song, Z. Chen, J. Gu, and S. Zhu, “Rrt-goalbias and path smoothing based motion planning of mobile manipulators with obstacle avoidance,” in 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR) . IEEE, 2021, pp. 217–222
2021
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J. Haviland, N. Sünderhauf, and P. Corke, “A holistic approach to reactive mobile manipulation,” IEEE Robotics and Automation Letters , vol. 7, no. 2, pp. 3122–3129, 2022
2022
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K. He, R. Newbury, T. Tran, J. Haviland, B. Burgess-Limerick, D. Kulic, P. Corke, and A. Cosgun, “Visibility maximization controller for robotic manipulation,” IEEE Robotics and Automation Letters , vol. 7, no. 3, pp. 8479–8486, 2022
2022
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S. Thakar, S. Srinivasan, S. Al-Hussaini, P. Bhatt, P. Rajendran, Y. J. Yoon, N. Dhanaraj, R. K. Malhan, M. Schmid, V. Krovi et al. , “A survey of wheeled mobile manipulation: A decision making perspective,” Journal of Mechanisms and Robotics , pp. 1–38, 2022
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