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Titel:

CoBRA: A Composable Benchmark for Robotics Applications

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Mayer, Matthias; Külz, Jonathan; Althoff, Matthias
Seitenangaben Beitrag:
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...     »
Stichworte:
Benchmarking; Modular Robotics; Path Planning; Trajectory Planning; Optimization; Task Formalization; Robot Comparison
Horizon 2020:
CONCERT (grant no. 101016007)
Herausgeber:
IEEE
Kongress- / Buchtitel:
IEEE International Conference on Robotics and Automation (ICRA 2024)
Jahr:
2024
Monat:
May
Seiten:
7
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/ICRA57147.2024.10610776
TUM Einrichtung:
Cyber-Physical Systems Group
Copyright Informationen:
© 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 at IEEE ICRA’24)
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