FLAP for CAOS: Forward-Looking Active Perception for Clutter-Aware Object Search

Abstract :

In this paper, we present a system for autonomous object search and exploration in cluttered environments. The system shortens the average time needed to complete search tasks by continually planning multiple perception actions ahead of time using probabilistic prior knowledge. Useful sensing actions are found using a frontier-based view sampling technique in a continuously built 3D map. We demonstrate the system on real hardware, investigate the planner's performance in three experiments in simulation, and show that our approach achieves shorter overall run times of search tasks compared to a greedy strategy.

Keywords :

active perception, object search, autonomous mobile robots, heuristic searches, knowledge acquisition, path planning, probabilistic models, robot vision, sampling actions, searching systems

Files:

iav2016_f4c.pdf
flap4caos_pr2.mp4