User: Guest  Login
Title:

CoBRA: A Composable Benchmark for Robotics Applications

Document type:
Konferenzbeitrag
Author(s):
Matthias Mayer, Jonathan Külz, Matthias Althoff
Pages contribution:
17665-17671
Abstract:
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark suite encompassing a unified format for robots, environments, and task descriptions. Our benchmark suite is especially useful for modular robots, where the multitude of robots that can be assembled creates a host of additional parameters to optimize. We inclu...     »
Keywords:
Benchmarking; Modular Robotics; Path Planning; Trajectory Planning; Optimization; Task Formalization; Robot Comparison
Horizon 2020:
CONCERT (grant no. 101016007)
Editor:
IEEE
Book / Congress title:
IEEE International Conference on Robotics and Automation (ICRA)
Year:
2024
Month:
May
Pages:
7
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/ICRA57147.2024.10610776
WWW:
www.cobra.cps.cit.tum.de
Notes:
ZIM project on energy- and wear-efficient trajectory generation (grant no. ZF4086011PO8)
TUM Institution:
Cyber-Physical Systems Group
Copyright statement:
© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. DOI: 10.1109/ICRA57147.2024.10610776 (Accepted for and presented at IEEE ICRA’24)
 BibTeX