Autonomous robotic stone stacking with online next best object target pose planning

@article{Furrer2017AutonomousRS,
  title={Autonomous robotic stone stacking with online next best object target pose planning},
  author={Fadri Furrer and Martin Wermelinger and Hironori Yoshida and Fabio Gramazio and Matthias Kohler and Roland Siegwart and Marco Hutter},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={2350-2356}
}
Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline that detects randomly placed objects in a scene that are used by our next best stacking pose searching method employing gradient descent with a random initial orientation, exploiting a physics engine… CONTINUE READING

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